chrono::ChFunctionRotation_ABCfunctions Class Reference
Description
A rotation function q=f(s) where q(s) is defined with three ChFunction objects, each per an an angle in an intrinsic triplets of angles (ex.
Eulero angles, Cardano angles, etc), ex. A=A(s), B=B(s), C=C(s). By default, rotation is constant zero rotation. By default, the angleset is AngleSet::RXYZ (sequence: X-Y'-Z'' intrinsic), may be changed.
#include <ChFunctionRotation_ABCfunctions.h>
Inheritance diagram for chrono::ChFunctionRotation_ABCfunctions:
Collaboration diagram for chrono::ChFunctionRotation_ABCfunctions:
Public Member Functions | |
| ChFunctionRotation_ABCfunctions (const ChFunctionRotation_ABCfunctions &other) | |
| virtual ChFunctionRotation_ABCfunctions * | Clone () const override |
| "Virtual" copy constructor. | |
| void | SetFunctionAngleA (std::shared_ptr< ChFunction > mx) |
| Set the angle function A=A(s) expressing the rotation about the first axis of rotation. Angle assumed in radians. | |
| std::shared_ptr< ChFunction > | GetFunctionAngleA () const |
| Get the angle function A=A(s) expressing the rotation about the fixed axis of rotation. Angle assumed in radians. | |
| void | SetFunctionAngleB (std::shared_ptr< ChFunction > mx) |
| Set the angle function B=B(s) expressing the rotation about the second axis of rotation. Angle assumed in radians. | |
| std::shared_ptr< ChFunction > | GetFunctionAngleB () const |
| Get the angle function B=B(s) expressing the rotation about the second axis of rotation. Angle assumed in radians. | |
| void | SetFunctionAngleC (std::shared_ptr< ChFunction > mx) |
| Set the angle function C=C(s) expressing the rotation about the second axis of rotation. Angle assumed in radians. | |
| std::shared_ptr< ChFunction > | GetFunctionAngleC () const |
| Get the angle function C=C(s) expressing the rotation about the second axis of rotation. Angle assumed in radians. | |
| void | SetAngleset (const AngleSet mset) |
| Set the angle set: Cardano, Eulero, etc. More... | |
| AngleSet | GetAngleset () const |
| Get the angle set: Cardano, Eulero, etc. The angle set define the order of the xyz axes of the intrinsic rotation. | |
| virtual ChQuaternion | Get_q (double s) const override |
| Return the rotation as a quaternion, function of s, as q=f(s). | |
| 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::ChFunctionRotation | |
| ChFunctionRotation (const ChFunctionRotation &other) | |
| virtual ChVector | Get_w_loc (double s) const |
| Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame. More... | |
| virtual ChVector | Get_a_loc (double s) const |
| Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame. More... | |
| virtual void | Estimate_s_domain (double &smin, double &smax) const |
| Return an estimate of the domain of the function argument. More... | |
| virtual void | Update (const double t) |
| Update could be implemented by children classes, ex. to launch callbacks. | |
Member Function Documentation
◆ SetAngleset()
|
inline |
Set the angle set: Cardano, Eulero, etc.
The angle set define the order of the xyz axes of the intrinsic rotation with the three A(s) B(s) C(s) rotations, for example Eulero angle set means that there is a rotation about Z, X', Z'', Cardano angle set means Z,X',Y', etc.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_ABCfunctions.h
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_ABCfunctions.cpp
