chrono::ChConstraintThreeBBShaft Class Reference
Description
A class for representing a constraint between two bodies (2x6dof in space) and a 1D dof (a shaft)
#include <ChConstraintThreeBBShaft.h>
Inheritance diagram for chrono::ChConstraintThreeBBShaft:
Collaboration diagram for chrono::ChConstraintThreeBBShaft:
Public Member Functions | |
| ChConstraintThreeBBShaft () | |
| Default constructor. | |
| ChConstraintThreeBBShaft (ChVariablesBody *mvariables_a, ChVariablesBody *mvariables_b, ChVariables *mvariables_c) | |
| Construct and immediately set references to variables. | |
| ChConstraintThreeBBShaft (const ChConstraintThreeBBShaft &other) | |
| Copy constructor. | |
| virtual ChConstraintThreeBBShaft * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| ChConstraintThreeBBShaft & | operator= (const ChConstraintThreeBBShaft &other) |
| Assignment operator: copy from other object. | |
| virtual ChRowVectorRef | Get_Cq_a () override |
| Access jacobian vector. | |
| virtual ChRowVectorRef | Get_Cq_b () override |
| Access jacobian vector. | |
| virtual ChRowVectorRef | Get_Cq_c () override |
| Access jacobian vector. | |
| virtual ChVectorRef | Get_Eq_a () override |
| Access auxiliary vector (ex: used by iterative solvers). | |
| virtual ChVectorRef | Get_Eq_b () override |
| Access auxiliary vector (ex: used by iterative solvers). | |
| virtual ChVectorRef | Get_Eq_c () override |
| Access auxiliary vector (ex: used by iterative solvers). | |
| void | SetVariables (ChVariables *mvariables_a, ChVariables *mvariables_b, ChVariables *mvariables_c) override |
| Set references to the constrained objects, If first two variables aren't from ChVariablesBody class, an assert failure happens. | |
| virtual void | Update_auxiliary () override |
| This function updates the following auxiliary data: More... | |
| virtual double | Compute_Cq_q () override |
| This function must computes the product between the row-jacobian of this constraint '[Cq_i]' and the vector of variables, 'v'. More... | |
| virtual void | Increment_q (const double deltal) override |
| This function must increment the vector of variables 'v' with the quantity [invM]*[Cq_i]'deltal,that is v+=[invM][Cq_i]'*deltal or better: v+=[Eq_i]*deltal This is used for some iterative solvers. | |
| virtual void | MultiplyAndAdd (double &result, const ChVectorDynamic< double > &vect) const override |
| Computes the product of the corresponding block in the system matrix by 'vect', and add to 'result'. More... | |
| virtual void | MultiplyTandAdd (ChVectorDynamic< double > &result, double l) override |
| Computes the product of the corresponding transposed blocks in the system matrix (ie. More... | |
| virtual void | Build_Cq (ChSparseMatrix &storage, int insrow) override |
| Puts the jacobian parts into the 'insrow' row of a sparse matrix, where both portions of the jacobian are shifted in order to match the offset of the corresponding ChVariable. | |
| virtual void | Build_CqT (ChSparseMatrix &storage, int inscol) override |
| Same as Build_Cq, but puts the transposed jacobian row as a column. | |
| virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIN (ChArchiveIn &marchive) override |
| Method to allow de-serialization of transient data from archives. | |
 Public Member Functions inherited from chrono::ChConstraintThree | |
| ChConstraintThree () | |
| Default constructor. | |
| ChConstraintThree (const ChConstraintThree &other) | |
| Copy constructor. | |
| ChConstraintThree & | operator= (const ChConstraintThree &other) |
| Assignment operator: copy from other object. | |
| ChVariables * | GetVariables_a () |
| Access the first variable object. | |
| ChVariables * | GetVariables_b () |
| Access the second variable object. | |
| ChVariables * | GetVariables_c () |
| Access the second variable object. | |
| Public Member Functions inherited from chrono::ChConstraint | |
| ChConstraint () | |
| Default constructor. | |
| ChConstraint (const ChConstraint &other) | |
| Copy constructor. | |
| ChConstraint & | operator= (const ChConstraint &other) |
| Assignment operator: copy from other object. | |
| bool | operator== (const ChConstraint &other) const |
| Comparison (compares only flags, not the jacobians etc.) | |
| bool | IsValid () const |
| Tells if the constraint data is currently valid. | |
| void | SetValid (bool mon) |
| Use this function to set the valid state (child class Children classes must use this function depending on the result of their implementations of RestoreReference();. | |
| bool | IsDisabled () const |
| Tells if the constraint is currently turned on or off by the user. | |
| void | SetDisabled (bool mon) |
| User can use this to enable/disable the constraint as desired. | |
| bool | IsRedundant () const |
| Tells if the constraint is redundant or singular. | |
| void | SetRedundant (bool mon) |
| Solvers may use the following to mark a constraint as redundant. | |
| bool | IsBroken () const |
| Tells if the constraint is broken, for excess of pulling/pushing. | |
| void | SetBroken (bool mon) |
| 3rd party software can set the 'broken' status via this method (by default, constraints never break); | |
| virtual bool | IsUnilateral () const |
| Tells if the constraint is unilateral (typical complementarity constraint). | |
| virtual bool | IsLinear () const |
| Tells if the constraint is linear (if non linear, returns false). | |
| eChConstraintMode | GetMode () const |
| Gets the mode of the constraint: free / lock / complementary A typical constraint has 'lock = true' by default. | |
| void | SetMode (eChConstraintMode mmode) |
| Sets the mode of the constraint: free / lock / complementary. | |
| bool | IsActive () const |
| Tells if the constraint is currently active, in general, that is tells if it must be included into the system solver or not. More... | |
| void | SetActive (bool isactive) |
| Set the status of the constraint to active. | |
| virtual double | Compute_c_i () |
| Compute the residual of the constraint using the LINEAR expression. More... | |
| double | Get_c_i () const |
| Return the residual 'c_i' of this constraint. // CURRENTLY NOT USED. | |
| void | Set_b_i (const double mb) |
| Sets the known term b_i in [Cq_i]*q + b_i = 0, where: c_i = [Cq_i]*q + b_i = 0. | |
| double | Get_b_i () const |
| Return the known term b_i in [Cq_i]*q + b_i = 0, where: c_i= [Cq_i]*q + b_i = 0. | |
| void | Set_cfm_i (const double mcfm) |
| Sets the constraint force mixing term (default=0). More... | |
| double | Get_cfm_i () const |
| Returns the constraint force mixing term. | |
| void | Set_l_i (double ml_i) |
| Sets the 'l_i' value (constraint reaction, see 'l' vector) | |
| double | Get_l_i () const |
| Return the 'l_i' value (constraint reaction, see 'l' vector) | |
| double | Get_g_i () const |
| Return the 'g_i' product , that is [Cq_i]*[invM_i]*[Cq_i]' (+cfm) | |
| void | Set_g_i (double m_g_i) |
| Usually you should not use the Set_g_i function, because g_i should be automatically computed during the Update_auxiliary() . | |
| virtual void | Project () |
| For iterative solvers: project the value of a possible 'l_i' value of constraint reaction onto admissible orthant/set. More... | |
| virtual double | Violation (double mc_i) |
| Given the residual of the constraint computed as the linear map mc_i = [Cq]*q + b_i + cfm*l_i , returns the violation of the constraint, considering inequalities, etc. More... | |
| void | SetOffset (int moff) |
| Set offset in global q vector (set automatically by ChSystemDescriptor) | |
| int | GetOffset () const |
| Get offset in global q vector. | |
Protected Attributes | |
| ChRowVectorN< double, 6 > | Cq_a |
| The [Cq_a] jacobian of the constraint. | |
| ChRowVectorN< double, 6 > | Cq_b |
| The [Cq_b] jacobian of the constraint. | |
| ChRowVectorN< double, 1 > | Cq_c |
| The [Cq_c] jacobian of the constraint. | |
| ChVectorN< double, 6 > | Eq_a |
| The [Eq_a] product [Eq_a]=[invM_a]*[Cq_a]'. | |
| ChVectorN< double, 6 > | Eq_b |
| The [Eq_b] product [Eq_b]=[invM_b]*[Cq_b]'. | |
| ChVectorN< double, 1 > | Eq_c |
| The [Eq_c] product [Eq_c]=[invM_c]*[Cq_c]'. | |
| Protected Attributes inherited from chrono::ChConstraintThree | |
| ChVariables * | variables_a |
| The first constrained object. | |
| ChVariables * | variables_b |
| The second constrained object. | |
| ChVariables * | variables_c |
| The third constrained object. | |
| Protected Attributes inherited from chrono::ChConstraint | |
| double | c_i |
| The 'c_i' residual of the constraint (if satisfied, c must be 0) | |
| double | l_i |
| The 'l_i' lagrangian multiplier (reaction) | |
| double | b_i |
| The 'b_i' right term in [Cq_i]*q+b_i=0 , note: c_i= [Cq_i]*q + b_i. | |
| double | cfm_i |
| The constraint force mixing, if needed (usually is zero) to add some numerical 'compliance' in the constraint, that is the equation becomes: c_i= [Cq_i]*q + b_i + cfm*l_i =0; Example, it could be cfm = [k * h^2](^-1) where k is stiffness. | |
| eChConstraintMode | mode |
| mode of the constraint: free / lock / complementar | |
| double | g_i |
| 'g_i' product [Cq_i]*[invM_i]*[Cq_i]' (+cfm) | |
| int | offset |
| offset in global "l" state vector (needed by some solvers) | |
Member Function Documentation
◆ Compute_Cq_q()
|
overridevirtual |
This function must computes the product between the row-jacobian of this constraint '[Cq_i]' and the vector of variables, 'v'.
that is CV=[Cq_i]*v This is used for some iterative solvers.
Implements chrono::ChConstraint.
◆ MultiplyAndAdd()
|
overridevirtual |
Computes the product of the corresponding block in the system matrix by 'vect', and add to 'result'.
NOTE: the 'vect' vector must already have the size of the total variables&constraints in the system; the procedure will use the ChVariable offsets (that must be already updated) to know the indexes in result and vect;
Implements chrono::ChConstraint.
◆ MultiplyTandAdd()
|
overridevirtual |
Computes the product of the corresponding transposed blocks in the system matrix (ie.
the TRANSPOSED jacobian matrix C_q') by 'l', and add to 'result'. NOTE: the 'result' vector must already have the size of the total variables&constraints in the system; the procedure will use the ChVariable offsets (that must be already updated) to know the indexes in result and vect;
Implements chrono::ChConstraint.
◆ Update_auxiliary()
|
overridevirtual |
This function updates the following auxiliary data:
- the Eq_a and Eq_b and Eq_c matrices
- the g_i product This is often called by solvers at the beginning of the solution process. Most often, inherited classes won't need to override this.
Reimplemented from chrono::ChConstraint.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/solver/ChConstraintThreeBBShaft.h
- /builds/uwsbel/chrono/src/chrono/solver/ChConstraintThreeBBShaft.cpp
