Description
Class for creating a constraint between an FEA node of ChNodeFEAxyz type and a ChBodyFrame (frame) object.
The node position is constrained to a given coordinate system CSYS that moves with the ChBodyFrame. The movements of the node respect to X, Y, Z axes of such CSYS can be costrained or not, depending on three boolean toggles. By default, XYZ are all constrained and the node follows the center of CSYS, s it is completely locked to it, but other options are, for example, that you just enable the X constraint (so the node moves on the flat YZ plane) or you just enable XY constraints (so the node moves along the Z direction), etc.
#include <ChLinkPointFrame.h>
![Inheritance graph](classchrono_1_1fea_1_1_ch_link_point_frame_generic__inherit__graph.png)
![Collaboration graph](classchrono_1_1fea_1_1_ch_link_point_frame_generic__coll__graph.png)
Public Member Functions | |
ChLinkPointFrameGeneric (bool mc_x=true, bool mc_y=true, bool mc_z=true) | |
ChLinkPointFrameGeneric (const ChLinkPointFrameGeneric &other) | |
virtual ChLinkPointFrameGeneric * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
virtual int | GetNumCoords () override |
Get the number of scalar variables affected by constraints in this link. | |
virtual int | GetDOC_c () override |
Number of scalar constraints. | |
virtual ChVector | Get_react_force () override |
Reaction force on the body, at the attachment point, expressed in the link coordinate frame. | |
virtual ChVectorDynamic | GetConstraintViolation () const override |
Get the current constraint violations. | |
bool | IsConstrainedX () |
bool | IsConstrainedY () |
bool | IsConstrainedZ () |
void | SetConstrainedCoords (bool mc_x, bool mc_y, bool mc_z) |
Sets which movements (of frame 1 respect to frame 2) are constrained. | |
virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override |
From item's reaction forces to global reaction vector. More... | |
virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override |
From global reaction vector to item's reaction forces. More... | |
virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override |
Prepare variables and constraints to accommodate a solution: More... | |
virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override |
After a solver solution, fetch values from variables and constraints into vectors: More... | |
virtual void | InjectConstraints (ChSystemDescriptor &mdescriptor) override |
Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | ConstraintsBiReset () override |
Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) override |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Ct (double factor=1) override |
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsLoadJacobians () override |
Adds the current jacobians in encapsulated ChConstraints. | |
virtual void | ConstraintsFetch_react (double factor=1) override |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More... | |
virtual ChCoordsys | GetLinkAbsoluteCoords () override |
Get the link coordinate system in absolute reference. More... | |
virtual int | Initialize (std::shared_ptr< ChNodeFEAxyz > node, std::shared_ptr< ChBodyFrame > body, ChVector<> *pos=0) |
Initialize this constraint, given the node and body frame to join. More... | |
virtual int | Initialize (std::shared_ptr< ChNodeFEAxyz > node, std::shared_ptr< ChBodyFrame > body, chrono::ChCoordsys<> csys_abs) |
Initialize this constraint, given the node and body frame to join. More... | |
std::shared_ptr< fea::ChNodeFEAxyz > | GetConstrainedNode () |
Get the connected xyz node (point). | |
std::shared_ptr< ChBodyFrame > | GetConstrainedBodyFrame () |
Get the connected body (frame). | |
const ChVector & | GetAttachPosition () const |
Get the attachment position, in the coordinates of the body. | |
const ChCoordsys & | GetAttachReference () const |
Get the attachment reference, in the coordinates of the body. | |
void | SetAttachPositionInBodyCoords (const ChVector<> &pos_loc) |
Set the attachment position, expressed in the coordinates of the body. More... | |
void | SetAttachPositionInAbsoluteCoords (const ChVector<> &pos_abs) |
Set the attachment position, expressed in absolute coordinates. More... | |
void | SetAttachReferenceInBodyCoords (const ChCoordsys<> &csys_loc) |
Set the attachment reference, expressed in the coordinates of the body. More... | |
void | SetAttachReferenceInAbsoluteCoords (const ChCoordsys<> &csys_abs) |
Set the attachment position, expressed in absolute coordinates. More... | |
ChVector | GetReactionOnNode () const |
Get the reaction force on the node, expressed in the link coordinate system. | |
ChVector | GetReactionOnBody () const |
Get the reaction force on the body, at the attachment point, expressed in the link coordinate system. | |
virtual void | Update (double mytime, bool update_assets=true) override |
Update all auxiliary data of the gear transmission at given time. | |
virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
Method to allow serialization of transient data to archives. | |
virtual void | ArchiveIN (ChArchiveIn &marchive) override |
Method to allow deserialization of transient data from archives. | |
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ChLinkBase (const ChLinkBase &other) | |
bool | IsValid () |
Tells if the link data is currently valid. More... | |
void | SetValid (bool mon) |
Set the status of link validity. | |
bool | IsDisabled () |
Tells if all constraints of this link are currently turned on or off by the user. | |
virtual void | SetDisabled (bool mdis) |
User can use this to enable/disable all the constraint of the link as desired. | |
bool | IsBroken () |
Tells if the link is broken, for excess of pulling/pushing. | |
virtual void | SetBroken (bool mon) |
Set the 'broken' status vof this link. | |
bool | IsActive () |
An important function! Tells if the link is currently active, in general, that is tells if it must be included into the system solver or not. More... | |
virtual ChFrame | GetAssetsFrame (unsigned int nclone=0) override |
Get the master coordinate system for the assets, in absolute reference. More... | |
virtual ChVector | Get_react_torque () |
To get reaction torque, expressed in link coordinate system: | |
virtual bool | IsRequiringWaking () |
Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. More... | |
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ChPhysicsItem (const ChPhysicsItem &other) | |
ChSystem * | GetSystem () const |
Get the pointer to the parent ChSystem() | |
virtual void | SetSystem (ChSystem *m_system) |
Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system. | |
void | AddAsset (std::shared_ptr< ChAsset > masset) |
Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset) | |
std::vector< std::shared_ptr< ChAsset > > & | GetAssets () |
Access to the list of optional assets. | |
std::shared_ptr< ChAsset > | GetAssetN (unsigned int num) |
Access the Nth asset in the list of optional assets. | |
virtual unsigned int | GetAssetsFrameNclones () |
Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More... | |
virtual bool | GetCollide () const |
Tell if the object is subject to collision. More... | |
virtual void | SyncCollisionModels () |
If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item. | |
virtual void | AddCollisionModelsToSystem () |
If this physical item contains one or more collision models, add them to the system's collision engine. | |
virtual void | RemoveCollisionModelsFromSystem () |
If this physical item contains one or more collision models, remove them from the system's collision engine. | |
virtual void | GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax) |
Get the entire AABB axis-aligned bounding box of the object. More... | |
virtual void | GetCenter (ChVector<> &mcenter) |
Get a symbolic 'center' of the object. More... | |
virtual void | StreamINstate (ChStreamInBinary &mstream) |
Method to deserialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | StreamOUTstate (ChStreamOutBinary &mstream) |
Method to serialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | Setup () |
This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
virtual void | Update (bool update_assets=true) |
As above, but does not require updating of time-dependent data. More... | |
virtual void | SetNoSpeedNoAcceleration () |
Set zero speed (and zero accelerations) in state, without changing the position. More... | |
virtual int | GetDOF () |
Get the number of scalar coordinates (variables), if any, in this item. More... | |
virtual int | GetDOF_w () |
Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More... | |
virtual int | GetDOC () |
Get the number of scalar constraints, if any, in this item. | |
virtual int | GetDOC_d () |
Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this. | |
unsigned int | GetOffset_x () |
Get offset in the state vector (position part) | |
unsigned int | GetOffset_w () |
Get offset in the state vector (speed part) | |
unsigned int | GetOffset_L () |
Get offset in the lagrangian multipliers. | |
void | SetOffset_x (const unsigned int moff) |
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_w (const unsigned int moff) |
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_L (const unsigned int moff) |
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
From item's state acceleration to global acceleration vector. More... | |
virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
From global acceleration vector to item's state acceleration. More... | |
virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
Computes x_new = x + Dt , using vectors at specified offsets. More... | |
virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) |
Takes the F force term, scale and adds to R at given offset: R += c*F. More... | |
virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
virtual void | VariablesFbReset () |
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
virtual void | VariablesFbLoadForces (double factor=1) |
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
virtual void | VariablesQbLoadSpeed () |
Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
virtual void | VariablesFbIncrementMq () |
Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
virtual void | VariablesQbSetSpeed (double step=0) |
Fetches the item speed (ex. More... | |
virtual void | VariablesQbIncrementPosition (double step) |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More... | |
virtual void | InjectVariables (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | ConstraintsBiLoad_Qc (double factor=1) |
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsFbLoadForces (double factor=1) |
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
virtual void | InjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may 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... | |
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ChObj (const ChObj &other) | |
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 std::string & | ArchiveContainerName () |
Additional Inherited Members | |
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bool | disabled |
all constraints of link disabled because of user needs | |
bool | valid |
link data is valid | |
bool | broken |
link is broken because of excessive pulling/pushing. | |
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ChSystem * | system |
parent system | |
std::vector< std::shared_ptr< ChAsset > > | assets |
set of assets | |
unsigned int | offset_x |
offset in vector of state (position part) | |
unsigned int | offset_w |
offset in vector of state (speed part) | |
unsigned int | offset_L |
offset in vector of lagrangian multipliers | |
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double | ChTime |
the time of simulation for the object | |
Member Function Documentation
◆ ConstraintsFetch_react()
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overridevirtual |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.
Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.
Reimplemented from chrono::ChPhysicsItem.
◆ GetLinkAbsoluteCoords()
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overridevirtual |
Get the link coordinate system in absolute reference.
This represents the 'main' reference of the link: reaction forces and reaction torques are expressed in this coordinate system. Child classes should implement this.
Reimplemented from chrono::ChLinkBase.
◆ Initialize() [1/2]
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virtual |
Initialize this constraint, given the node and body frame to join.
The constraint frame is a coordinate system passed with the csys parameter, where csys is expressed in absolute coordinates
- Parameters
-
node xyz node (point) to join body body (frame) to join csys_abs attachment position in absolute coordinates
◆ Initialize() [2/2]
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virtual |
Initialize this constraint, given the node and body frame to join.
The attachment position is the actual position of the node (unless otherwise defined, using the optional 'pos' parameter). Note: the node and body must belong to the same ChSystem.
- Parameters
-
node xyz node (point) to join body body (frame) to join pos attachment position in absolute coordinates
◆ IntFromDescriptor()
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overridevirtual |
After a solver solution, fetch values from variables and constraints into vectors:
- Parameters
-
off_v offset for v v vector to where the q 'unknowns' term of the variables will be copied off_L offset for L L vector to where L 'lagrangian ' term of the constraints will be copied
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadConstraint_C()
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overridevirtual |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*C c a scaling factor do_clamp apply clamping to c*C? recovery_clamp value for min/max clamping of c*C
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_CqL()
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overridevirtual |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.
- Parameters
-
off_L offset in L multipliers R result: the R residual, R += c*Cq'*L L the L vector c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGatherReactions()
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overridevirtual |
From item's reaction forces to global reaction vector.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatterReactions()
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overridevirtual |
From global reaction vector to item's reaction forces.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented from chrono::ChPhysicsItem.
◆ IntToDescriptor()
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overridevirtual |
Prepare variables and constraints to accommodate a solution:
- Parameters
-
off_v offset for v and R v vector that will be copied into the q 'unknowns' term of the variables (for warm starting) R vector that will be copied into the F 'force' term of the variables off_L offset for L and Qc L vector that will be copied into the L 'lagrangian ' term of the constraints (for warm starting) Qc vector that will be copied into the Qb 'constraint' term of the constraints
Reimplemented from chrono::ChPhysicsItem.
◆ SetAttachPositionInAbsoluteCoords()
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inline |
Set the attachment position, expressed in absolute coordinates.
This function may be called only after initialization.
◆ SetAttachPositionInBodyCoords()
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inline |
Set the attachment position, expressed in the coordinates of the body.
This function may be called only after initialization.
◆ SetAttachReferenceInAbsoluteCoords()
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inline |
Set the attachment position, expressed in absolute coordinates.
This function may be called only after initialization.
◆ SetAttachReferenceInBodyCoords()
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inline |
Set the attachment reference, expressed in the coordinates of the body.
This function may be called only after initialization.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/fea/ChLinkPointFrame.h
- /builds/uwsbel/chrono/src/chrono/fea/ChLinkPointFrame.cpp