chrono::ChLoadXYZnodeBody Class Referenceabstract
Description
Base class for loads representing a concentrated force acting between a ChNodeXYZ and a ChBody Users should inherit from this and implement a custom ComputeForce(), this is enough to have the load working.
Note: there are already some predefined examples, ie. children classes with common concrete implementations, such as ChLoadXYZnodeBodySpring ChLoadXYZnodeBodyBushing etc.; take inspiration from those example to inherit your own load if they are not enough.
#include <ChLoadsXYZnode.h>
Inheritance diagram for chrono::ChLoadXYZnodeBody:
Collaboration diagram for chrono::ChLoadXYZnodeBody:
Public Member Functions | |
| ChLoadXYZnodeBody (std::shared_ptr< ChNodeXYZ > nodeA, std::shared_ptr< ChBody > bodyB) | |
| virtual void | ComputeForce (const ChFrameMoving<> &rel_AB, ChVector<> &loc_force)=0 |
| Compute the force on the nodeA, in local coordsystem of SetApplicationFrameB (the auxiliary frame attached to body) given relative position of nodeA respect to B Body will receive the reaction force. More... | |
| ChVector | GetForce () const |
| For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to node. | |
| void | SetApplicationFrameB (const ChFrame<> &mpB) |
| Set the application frame of bushing on bodyB. | |
| ChFrame | GetApplicationFrameB () const |
| ChFrameMoving | GetAbsoluteFrameB () const |
| Get absolute coordinate of frame B (last computed) | |
| std::shared_ptr< ChNodeXYZ > | GetNodeA () const |
| std::shared_ptr< ChBody > | GetBodyB () const |
 Public Member Functions inherited from chrono::ChLoadCustomMultiple | |
| ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &mloadables) | |
| ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB) | |
| ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB, std::shared_ptr< ChLoadable > mloadableC) | |
| virtual int | LoadGet_ndof_x () override |
| Gets the number of DOFs affected by this load (position part) | |
| virtual int | LoadGet_ndof_w () override |
| Gets the number of DOFs affected by this load (speed part) | |
| virtual void | LoadGetStateBlock_x (ChState &mD) override |
| Gets all the current DOFs packed in a single vector (position part) | |
| virtual void | LoadGetStateBlock_w (ChStateDelta &mD) override |
| Gets all the current DOFs packed in a single vector (speed part) | |
| virtual void | LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
| Increment a packed state (ex. More... | |
| virtual int | LoadGet_field_ncoords () override |
| Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, = 1 for a thermal problem, etc. | |
| virtual void | ComputeJacobian (ChState *state_x, ChStateDelta *state_w, ChMatrixRef mK, ChMatrixRef mR, ChMatrixRef mM) override |
| Compute jacobians (default fallback). More... | |
| virtual void | LoadIntLoadResidual_F (ChVectorDynamic<> &R, const double c) override |
| Adds the internal loads Q (pasted at global nodes offsets) into a global vector R, multiplied by a scaling factor c, as R += forces * c. | |
| virtual void | CreateJacobianMatrices () override |
| Create the jacobian loads if needed, and also set the ChVariables referenced by the sparse KRM block. | |
| virtual ChVectorDynamic & | GetQ () |
| Access the generalized load vector Q. | |
| Public Member Functions inherited from chrono::ChLoadBase | |
| ChLoadJacobians * | GetJacobians () |
| Access the jacobians (if any, i.e. if this is a stiff load) | |
| virtual void | Update (double time) |
| Update: this is called at least at each time step. More... | |
| virtual bool | IsStiff ()=0 |
| Report if this is load is stiff. More... | |
| virtual void | InjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
| Tell to a system descriptor that there are item(s) of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but inherited classes must specialize this. | |
| virtual void | KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) |
| Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More... | |
| Public Member Functions inherited from chrono::ChObj | |
| ChObj (const ChObj &other) | |
| virtual ChObj * | Clone () const =0 |
| "Virtual" copy constructor. More... | |
| int | GetIdentifier () const |
| Gets the numerical identifier of the object. | |
| void | SetIdentifier (int id) |
| Sets the numerical identifier of the object. | |
| double | GetChTime () const |
| Gets the simulation time of this object. | |
| void | SetChTime (double m_time) |
| Sets the simulation time of this object. | |
| const char * | GetName () const |
| Gets the name of the object as C Ascii null-terminated string -for reading only! | |
| void | SetName (const char myname[]) |
| Sets the name of this object, as ascii string. | |
| std::string | GetNameString () const |
| Gets the name of the object as C Ascii null-terminated string. | |
| void | SetNameString (const std::string &myname) |
| Sets the name of this object, as std::string. | |
| void | MFlagsSetAllOFF (int &mflag) |
| void | MFlagsSetAllON (int &mflag) |
| void | MFlagSetON (int &mflag, int mask) |
| void | MFlagSetOFF (int &mflag, int mask) |
| int | MFlagGet (int &mflag, int mask) |
| 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. | |
| virtual std::string & | ArchiveContainerName () |
Protected Member Functions | |
| virtual void | ComputeQ (ChState *state_x, ChStateDelta *state_w) override |
| Compute Q, the generalized load. More... | |
Protected Attributes | |
| ChFrame | loc_application_B |
| application point on body B (local) | |
| ChVector | computed_loc_force |
| store computed values here | |
| ChFrameMoving | frame_Aw |
| for results | |
| ChFrameMoving | frame_Bw |
| for results | |
| Protected Attributes inherited from chrono::ChLoadBase | |
| ChLoadJacobians * | jacobians |
| Protected Attributes inherited from chrono::ChObj | |
| double | ChTime |
| the time of simulation for the object | |
Additional Inherited Members | |
| Public Attributes inherited from chrono::ChLoadCustomMultiple | |
| std::vector< std::shared_ptr< ChLoadable > > | loadables |
| ChVectorDynamic | load_Q |
Constructor & Destructor Documentation
◆ ChLoadXYZnodeBody()
| chrono::ChLoadXYZnodeBody::ChLoadXYZnodeBody | ( | std::shared_ptr< ChNodeXYZ > | nodeA, |
| std::shared_ptr< ChBody > | bodyB | ||
| ) |
- Parameters
-
nodeA node bodyB body
Member Function Documentation
◆ ComputeForce()
|
pure virtual |
Compute the force on the nodeA, in local coordsystem of SetApplicationFrameB (the auxiliary frame attached to body) given relative position of nodeA respect to B Body will receive the reaction force.
Inherited classes MUST IMPLEMENT THIS.
Implemented in chrono::ChLoadXYZnodeBodyBushing, and chrono::ChLoadXYZnodeBodySpring.
◆ ComputeQ()
|
overrideprotectedvirtual |
Compute Q, the generalized load.
It calls ComputeBodyBodyForceTorque, so in children classes you do not need to implement it. Called automatically at each Update().
- Parameters
-
state_x state position to evaluate Q state_w state speed to evaluate Q
Implements chrono::ChLoadBase.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChLoadsXYZnode.h
- /builds/uwsbel/chrono/src/chrono/physics/ChLoadsXYZnode.cpp
