Description

Generic mate constraint, where one can select which DOFs must be constrained between two frames attached to the two bodies.

#include <ChLinkMate.h>

Inheritance diagram for chrono::ChLinkMateGeneric:
Collaboration diagram for chrono::ChLinkMateGeneric:

Public Types

using ChConstraintVectorX = Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor, 6, 1 >
 

Public Member Functions

 ChLinkMateGeneric (bool mc_x=true, bool mc_y=true, bool mc_z=true, bool mc_rx=true, bool mc_ry=true, bool mc_rz=true)
 
 ChLinkMateGeneric (const ChLinkMateGeneric &other)
 
virtual ChLinkMateGenericClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual ChCoordsys GetLinkRelativeCoords () override
 Get the link coordinate system, expressed relative to Body2 (the 'master' body). More...
 
virtual ChFrame GetVisualModelFrame (unsigned int nclone=0) override
 Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...
 
ChFrameGetFrame1 ()
 Access the coordinate system considered attached to body1. More...
 
ChFrameGetFrame2 ()
 Access the coordinate system considered attached to body2. More...
 
bool IsConstrainedX () const
 
bool IsConstrainedY () const
 
bool IsConstrainedZ () const
 
bool IsConstrainedRx () const
 
bool IsConstrainedRy () const
 
bool IsConstrainedRz () const
 
void SetConstrainedCoords (bool mc_x, bool mc_y, bool mc_z, bool mc_rx, bool mc_ry, bool mc_rz)
 Sets which movements (of frame 1 respect to frame 2) are constrained.
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, ChFrame<> mabsframe)
 Initialize the generic mate, given the two bodies to be connected, and the absolute position of the mate (the two frames to connect on the bodies will be initially coincindent to that frame). More...
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, ChFrame<> mframe1, ChFrame<> mframe2)
 Initialize the generic mate, given the two bodies to be connected, the positions of the two frames to connect on the bodies (each expressed in body or abs. More...
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, ChVector<> mpt1, ChVector<> mpt2, ChVector<> mnorm1, ChVector<> mnorm2)
 Initialization based on passing two vectors (point + dir) on the two bodies, which will represent the X axes of the two frames (Y and Z will be built from the X vector via Gram Schmidt orthonormalization). More...
 
virtual void Update (double mtime, bool update_assets=true) override
 Override all time, jacobian etc. updating.
 
virtual int RestoreRedundant () override
 If some constraint is redundant, return to normal state.
 
virtual void SetDisabled (bool mdis) override
 User can use this to enable/disable all the constraint of the link as desired.
 
virtual void SetBroken (bool mon) override
 Ex:3rd party software can set the 'broken' status via this method.
 
virtual int GetDOC () override
 Get the number of scalar constraints, if any, in this item.
 
virtual int GetDOC_c () override
 Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this.
 
virtual int GetDOC_d () override
 Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this.
 
virtual ChVectorDynamic GetConstraintViolation () const override
 Link violation (residuals of the link constraint equations).
 
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 IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) override
 Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. 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 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. More...
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem().
 
virtual void SetSystem (ChSystem *m_system)
 Set the pointer to the parent ChSystem(). More...
 
void AddVisualModel (std::shared_ptr< ChVisualModel > model)
 Add an (optional) visualization model. More...
 
std::shared_ptr< ChVisualModelGetVisualModel () const
 Access the visualization model (if any). More...
 
void AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
 Add the specified visual shape to the visualization model. More...
 
std::shared_ptr< ChVisualShapeGetVisualShape (unsigned int i) const
 Access the specified visualization shape in the visualization model (if any). More...
 
void AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
 Add the specified FEA visualization object to the visualization model. More...
 
std::shared_ptr< ChVisualShapeFEAGetVisualShapeFEA (unsigned int i) const
 Access the specified FEA visualization object in the visualization model (if any). More...
 
virtual unsigned int GetNumVisualModelClones () const
 Return the number of clones of the visual model associated with this physics item. More...
 
void AddCamera (std::shared_ptr< ChCamera > camera)
 Attach a ChCamera to this physical item. More...
 
std::vector< std::shared_ptr< ChCamera > > GetCameras () const
 Get the set of cameras attached to this physics item.
 
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 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...
 
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 IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv)
 Computes Dt = x_new - x, 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 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...
 
- Public Member Functions inherited from chrono::ChObj
 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 ()
 

Protected Member Functions

void SetupLinkMask ()
 
void ChangedLinkMask ()
 

Protected Attributes

ChFrame frame1
 
ChFrame frame2
 
bool c_x
 
bool c_y
 
bool c_z
 
bool c_rx
 
bool c_ry
 
bool c_rz
 
int ndoc
 number of DOC, degrees of constraint
 
int ndoc_c
 number of DOC, degrees of constraint (only bilaterals)
 
int ndoc_d
 number of DOC, degrees of constraint (only unilaterals)
 
ChLinkMask mask
 
ChConstraintVectorX C
 residuals
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_model_instance
 instantiated visualization model
 
std::vector< std::shared_ptr< ChCamera > > cameras
 set of cameras
 
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
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 the time of simulation for the object
 

Member Function Documentation

◆ ArchiveIN()

◆ ConstraintsFetch_react()

void chrono::ChLinkMateGeneric::ConstraintsFetch_react ( double  factor = 1)
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.

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ GetFrame1()

ChFrame& chrono::ChLinkMateGeneric::GetFrame1 ( )
inline

Access the coordinate system considered attached to body1.

Its position is expressed in the coordinate system of body1.

◆ GetFrame2()

ChFrame& chrono::ChLinkMateGeneric::GetFrame2 ( )
inline

Access the coordinate system considered attached to body2.

Its position is expressed in the coordinate system of body2.

◆ GetLinkRelativeCoords()

virtual ChCoordsys chrono::ChLinkMateGeneric::GetLinkRelativeCoords ( )
inlineoverridevirtual

Get the link coordinate system, expressed relative to Body2 (the 'master' body).

This represents the 'main' reference of the link: reaction forces are expressed in this coordinate system. (It is the coordinate system of the contact plane relative to Body2)

Reimplemented from chrono::ChLink.

Reimplemented in chrono::ChLinkMotionImposed.

◆ GetVisualModelFrame()

virtual ChFrame chrono::ChLinkMateGeneric::GetVisualModelFrame ( unsigned int  nclone = 0)
inlineoverridevirtual

Get the reference frame (expressed in and relative to the absolute frame) of the visual model.

For a ChLinkMate, this returns the absolute coordinate system of the second body.

Reimplemented from chrono::ChLinkBase.

◆ Initialize() [1/3]

void chrono::ChLinkMateGeneric::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
bool  pos_are_relative,
ChFrame<>  mframe1,
ChFrame<>  mframe2 
)
virtual

Initialize the generic mate, given the two bodies to be connected, the positions of the two frames to connect on the bodies (each expressed in body or abs.

coordinates).

Parameters
mbody1first body to link
mbody2second body to link
pos_are_relativetrue: following pos. are relative to bodies
mframe1slave frame 1 (rel. or abs.)
mframe2master frame 2 (rel. or abs.)

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ Initialize() [2/3]

void chrono::ChLinkMateGeneric::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
bool  pos_are_relative,
ChVector<>  mpt1,
ChVector<>  mpt2,
ChVector<>  mnorm1,
ChVector<>  mnorm2 
)
virtual

Initialization based on passing two vectors (point + dir) on the two bodies, which will represent the X axes of the two frames (Y and Z will be built from the X vector via Gram Schmidt orthonormalization).

Parameters
mbody1first body to link
mbody2second body to link
pos_are_relativetrue: following pos. are relative to bodies
mpt1origin of slave frame 1 (rel. or abs.)
mpt2origin of master frame 2 (rel. or abs.)
mnorm1X axis of slave plane 1 (rel. or abs.)
mnorm2X axis of master plane 2 (rel. or abs.)

Reimplemented in chrono::ChLinkMatePlane, chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkMateOrthogonal, chrono::ChLinkMateParallel, and chrono::ChLinkMateCoaxial.

◆ Initialize() [3/3]

void chrono::ChLinkMateGeneric::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
ChFrame<>  mabsframe 
)
virtual

Initialize the generic mate, given the two bodies to be connected, and the absolute position of the mate (the two frames to connect on the bodies will be initially coincindent to that frame).

Parameters
mbody1first body to link
mbody2second body to link
mabsframemate frame, in abs. coordinate

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ IntFromDescriptor()

void chrono::ChLinkMateGeneric::IntFromDescriptor ( const unsigned int  off_v,
ChStateDelta v,
const unsigned int  off_L,
ChVectorDynamic<> &  L 
)
overridevirtual

After a solver solution, fetch values from variables and constraints into vectors:

Parameters
off_voffset for v
vvector to where the q 'unknowns' term of the variables will be copied
off_Loffset for L
Lvector to where L 'lagrangian ' term of the constraints will be copied

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.

◆ IntLoadConstraint_C()

void chrono::ChLinkMateGeneric::IntLoadConstraint_C ( const unsigned int  off,
ChVectorDynamic<> &  Qc,
const double  c,
bool  do_clamp,
double  recovery_clamp 
)
overridevirtual

Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

Parameters
offoffset in Qc residual
Qcresult: the Qc residual, Qc += c*C
ca scaling factor
do_clampapply clamping to c*C?
recovery_clampvalue for min/max clamping of c*C

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ IntLoadConstraint_Ct()

void chrono::ChLinkMateGeneric::IntLoadConstraint_Ct ( const unsigned int  off,
ChVectorDynamic<> &  Qc,
const double  c 
)
overridevirtual

Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.

Parameters
offoffset in Qc residual
Qcresult: the Qc residual, Qc += c*Ct
ca scaling factor

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkMotorLinearSpeed, chrono::ChLinkMotorRotationSpeed, chrono::ChLinkMotionImposed, chrono::ChLinkMotorLinearPosition, and chrono::ChLinkMotorRotationAngle.

◆ IntLoadResidual_CqL()

void chrono::ChLinkMateGeneric::IntLoadResidual_CqL ( const unsigned int  off_L,
ChVectorDynamic<> &  R,
const ChVectorDynamic<> &  L,
const double  c 
)
overridevirtual

Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

Parameters
off_Loffset in L multipliers
Rresult: the R residual, R += c*Cq'*L
Lthe L vector
ca scaling factor

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ IntStateGatherReactions()

void chrono::ChLinkMateGeneric::IntStateGatherReactions ( const unsigned int  off_L,
ChVectorDynamic<> &  L 
)
overridevirtual

From item's reaction forces to global reaction vector.

Parameters
off_Loffset in L vector
LL vector of reaction forces

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ IntStateScatterReactions()

void chrono::ChLinkMateGeneric::IntStateScatterReactions ( const unsigned int  off_L,
const ChVectorDynamic<> &  L 
)
overridevirtual

From global reaction vector to item's reaction forces.

Parameters
off_Loffset in L vector
LL vector of reaction forces

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, and chrono::ChLinkMotorRotationDriveline.

◆ IntToDescriptor()

void chrono::ChLinkMateGeneric::IntToDescriptor ( const unsigned int  off_v,
const ChStateDelta v,
const ChVectorDynamic<> &  R,
const unsigned int  off_L,
const ChVectorDynamic<> &  L,
const ChVectorDynamic<> &  Qc 
)
overridevirtual

Prepare variables and constraints to accommodate a solution:

Parameters
off_voffset for v and R
vvector copied into the q 'unknowns' term of the variables
Rvector copied into the F 'force' term of the variables
off_Loffset for L and Qc
Lvector copied into the L 'lagrangian ' term of the constraints
Qcvector copied into the Qb 'constraint' term of the constraints

Reimplemented from chrono::ChPhysicsItem.

Reimplemented in chrono::ChLinkMotorLinearDriveline, chrono::ChLinkMotorRotationDriveline, chrono::ChLinkMotorLinearSpeed, and chrono::ChLinkMotorRotationSpeed.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkMate.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkMate.cpp