chrono::ChStateDelta Class Reference

## Description

Class for incremental form of state of time-integrable objects.

Note that for many cases, this would be superfluous, because one could do y_new = y_old + dydt*td, where dydt is a ChState just like y and y_new, but there are cases where such simple "+" operations between vectors is not practical, for instance when integrating rotations in 3D space, where it is better to work with quaternions in y and y_new, but with spinors/angular velocities/etc. in dydt; so dim(y) is not dim(dydt); hence the need of this specific class for increments in states. This is a vector (one-column matrix) which extends ChVectorDynamic.

#include <ChState.h>

Inherits ChVectorDynamic< double >.

## Public Member Functions

ChStateDelta (ChIntegrable *intgr=0)
Constructors.

ChStateDelta (Eigen::Index size, ChIntegrable *intgr)

ChStateDelta (ChVectorConstRef vec, ChIntegrable *intgr)

ChStateDelta (const ChStateDelta &other)
Copy constructor.

template<typename OtherDerived >
ChStateDeltaoperator= (const Eigen::MatrixBase< OtherDerived > &other)
This method allows assigning Eigen expressions to ChStateDelta.

ChStateDelta operator- ()
Unary minus operator.

ChStateDeltaoperator*= (double factor)
Scale this state by the given value.

ChStateDelta operator+ (ChVectorConstRef vec) const
Return the sum of this state and another vector.

ChStateDelta operator- (ChVectorConstRef vec) const
Return the difference of this state vector and another vector.

ChStateDelta operator* (double factor) const
Return this state vector scaled by the given value.

void setZero (Eigen::Index size, ChIntegrable *intgr)
Reset to zeroes and (if needed) changes the size.

ChIntegrableGetIntegrable () const

The documentation for this class was generated from the following file:
• /builds/uwsbel/chrono/src/chrono/timestepper/ChState.h