Description
Interface base class for scalar->vector functions of the type:
p= f(s)
where p is a 3D vector (ex. a position) and s is a scalar (ex. time) Classes inherited from ChFunctionPosition are often used to set time-dependent positions, for example to set the imposed trajectory of a rigid body in space. Inherited classes must override at least the Get_p() method, in order to represent more complex functions.
#include <ChFunctionPosition.h>
Public Member Functions | |
| ChFunctionPosition (const ChFunctionPosition &other) | |
| virtual ChFunctionPosition * | Clone () const =0 |
| "Virtual" copy constructor. | |
| virtual ChVector | Get_p (double s) const =0 |
| Return the p value of the function, at s, as p=f(s). | |
| virtual ChVector | Get_p_ds (double s) const |
| Return the dp/ds derivative of the function, at s. More... | |
| virtual ChVector | Get_p_dsds (double s) const |
| Return the ddp/dsds double derivative of the function, at s. More... | |
| virtual void | Estimate_s_domain (double &smin, double &smax) const |
| Return an estimate of the domain of the function argument. More... | |
| virtual void | Estimate_boundingbox (ChVector<> &pmin, ChVector<> &pmax) const |
| Return an estimate of the range of the function value. More... | |
| virtual void | Update (const double t) |
| Update could be implemented by children classes, ex. to launch callbacks. | |
| virtual void | ArchiveOUT (ChArchiveOut &marchive) |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIN (ChArchiveIn &marchive) |
| Method to allow de-serialization of transient data from archives. | |
Member Function Documentation
◆ Estimate_boundingbox()
|
virtual |
Return an estimate of the range of the function value.
By default it samples the function N times, but children classes migh implement a more efficient closed form solution. (ex. can be used for automatic zooming in a GUI)
◆ Estimate_s_domain()
|
inlinevirtual |
Return an estimate of the domain of the function argument.
(ex. can be used for automatic zooming in a GUI, or for computing the bounding box)
Reimplemented in chrono::ChFunctionPosition_XYZfunctions.
◆ Get_p_ds()
|
inlinevirtual |
Return the dp/ds derivative of the function, at s.
Note that inherited classes may also avoid overriding this method, because this base method already provide a general-purpose numerical differentiation to get dp/dt only from the Get_p() function. (however, if the analytical derivative is known, it may better to implement a custom method).
Reimplemented in chrono::ChFunctionPosition_setpoint, chrono::ChFunctionPosition_XYZfunctions, and chrono::ChFunctionPosition_line.
◆ Get_p_dsds()
|
inlinevirtual |
Return the ddp/dsds double derivative of the function, at s.
Note that inherited classes may also avoid overriding this method, because this base method already provide a general-purpose numerical differentiation to get ddp/dsds only from the Get_p() function. (however, if the analytical derivative is known, it may be better to implement a custom method).
Reimplemented in chrono::ChFunctionPosition_setpoint, chrono::ChFunctionPosition_XYZfunctions, and chrono::ChFunctionPosition_line.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionPosition.h
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionPosition.cpp
