Description
This is an "interface" from 3D to a powertrain/powertrain that is modeled via 1D elements such as ChShaft, ChShaftsMotor, ChShaftsGearbox, ChShaftsClutch, etc.
This is the most avanced type of "motor" because using many of those 1D elements one can build very complex drivelines, for example use this ChLinkMotorRotationDriveline to represent a drive+reducer, hence taking into account of the inertia of the motor shaft (as in many cases of robotic actuators, that has electric drives+reducers.) At the same time, using 1D elements avoids the unnecessary complication of using complete 3D parts to make fast spindles, 3D gears etc.
The 1D driveline is "interfaced" to the two connected threedimensional parts using two "inner" 1D shafts, each rotating as the connected 3D part; it is up to the user to build the driveline that connects those two shafts.
Most often the driveline is a graph starting at inner shaft 2 (consider it to be the truss for holding the motor drive, also the support for reducers if any) and ending at inner shaft 1 (consider it to be the output, i.e. the slow-rotation spindle). Note that it is up to the user to create a driveline where all torques are balanced action/reactions: in this case, GetMotorTorque() = GetInnerTorque1() = - GetInnerTorque2(). This is not true for example, for an unbalanced driveline where one of the two inner shafts is connected to some external ChShaft.
#include <ChLinkMotorRotationDriveline.h>
Public Member Functions | |
ChLinkMotorRotationDriveline (const ChLinkMotorRotationDriveline &other) | |
virtual ChLinkMotorRotationDriveline * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
virtual void | SetSystem (ChSystem *m_system) override |
Set the pointer to the parent ChSystem(). More... | |
std::shared_ptr< ChShaft > | GetInnerShaft1 () const |
Access the inner 1D shaft connected to the rotation of body1 about dir of motor shaft. More... | |
std::shared_ptr< ChShaft > | GetInnerShaft2 () const |
Access the inner 1D shaft connected to the rotation of body2 about dir of motor shaft, The shaft can be connected to other shafts with ChShaftsClutch or similar items. | |
double | GetInnerTorque1 () const |
Get the torque between body 1 and inner shaft 1. More... | |
double | GetInnerTorque2 () const |
Get the torque between body 2 and inner shaft 2 Note, if driveline is not connected to outer 1D shafts, it should be GetInnerTorque2() = - GetInnerTorque1() | |
virtual double | GetMotorTorque () const override |
Get the current actuator reaction torque [Nm]. | |
virtual void | Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, ChFrame<> mabsframe) override |
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) override |
Specialized initialization for LinkMotorRotationDriveline, 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) override |
Specialized initialization for LinkMotorRotationDriveline 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 | Setup () override |
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 (double mytime, bool update_assets=true) override |
Update state of the LinkMotor. | |
virtual int | GetDOF () override |
Get the number of scalar coordinates (variables), if any, in this item. More... | |
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 void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override |
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) override |
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) override |
From item's state acceleration to global acceleration vector. More... | |
virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override |
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) override |
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) override |
Computes Dt = x_new - x, using vectors at specified offsets. More... | |
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_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override |
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) override |
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 | 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 | InjectVariables (ChSystemDescriptor &mdescriptor) override |
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 | VariablesFbReset () override |
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
virtual void | VariablesFbLoadForces (double factor=1) override |
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
virtual void | VariablesQbLoadSpeed () override |
Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
virtual void | VariablesFbIncrementMq () override |
Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
virtual void | VariablesQbSetSpeed (double step=0) override |
Fetches the item speed (ex. More... | |
virtual void | VariablesQbIncrementPosition (double step) override |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. 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::ChLinkMotorRotation | |
ChLinkMotorRotation (const ChLinkMotorRotation &other) | |
void | SetSpindleConstraint (const SpindleConstraint mconstraint) |
Sets which movements (of frame 1 respect to frame 2) are constrained. More... | |
void | SetSpindleConstraint (bool mc_x, bool mc_y, bool mc_z, bool mc_rx, bool mc_ry) |
Sets which movements (of frame 1 respect to frame 2) are constrained. More... | |
virtual double | GetMotorRot () const |
Get the current actuator rotation [rad], including error etc. More... | |
virtual int | GetMotorRotTurns () const |
In case of multi-turns, gets the current actuator number of (integer) rotations,. | |
virtual double | GetMotorRotPeriodic () const |
In case of multi-turns, gets the current actuator rotation angle [rad], in periodic -PI..+PI. | |
virtual double | GetMotorRot_dt () const |
Get the current actuator speed [rad/s], including error etc. | |
virtual double | GetMotorRot_dtdt () const |
Get the current actuator acceleration [rad/s^2], including error etc. | |
Public Member Functions inherited from chrono::ChLinkMotor | |
ChLinkMotor (const ChLinkMotor &other) | |
void | SetMotorFunction (const std::shared_ptr< ChFunction > function) |
Set the actuation function of time F(t). More... | |
std::shared_ptr< ChFunction > | GetMotorFunction () const |
Get the actuation function F(t). | |
Public Member Functions inherited from chrono::ChLinkMateGeneric | |
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 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... | |
ChFrame & | GetFrame1 () |
Access the coordinate system considered attached to body1. More... | |
ChFrame & | GetFrame2 () |
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 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_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). | |
Public Member Functions inherited from chrono::ChLinkMate | |
ChLinkMate (const ChLinkMate &other) | |
Public Member Functions inherited from chrono::ChLink | |
ChLink (const ChLink &other) | |
int | GetLeftDOF () |
Get the number of free degrees of freedom left by this link, between two bodies. | |
virtual int | GetNumCoords () override |
Get the number of scalar variables affected by constraints in this link. | |
ChBodyFrame * | GetBody1 () |
Get the constrained body '1', the 'slave' body. | |
ChBodyFrame * | GetBody2 () |
Get the constrained body '2', the 'master' body. | |
virtual ChCoordsys | GetLinkAbsoluteCoords () override |
Get the link coordinate system in absolute reference. More... | |
virtual ChVector | Get_react_force () override |
Get reaction force, expressed in link coordinate system. | |
virtual ChVector | Get_react_torque () override |
Get reaction torque, expressed in link coordinate system. | |
virtual void | UpdateTime (double mytime) |
Given new time, current body state, update time-dependent quantities in link state, for example motion laws, moving markers, etc. More... | |
virtual void | Update (bool update_assets=true) override |
As above, but with current time. | |
virtual void | UpdatedExternalTime (double prevtime, double time) |
Called from a external package (i.e. a plugin, a CAD app.) to report that time has changed. | |
Public Member Functions inherited from chrono::ChLinkBase | |
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. | |
bool | IsBroken () |
Tells if the link is broken, for excess of pulling/pushing. | |
virtual bool | IsActive () const override |
Return true if the link is currently active and thereofre included into the system solver. More... | |
virtual bool | IsRequiringWaking () |
Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. More... | |
Public Member Functions inherited from chrono::ChPhysicsItem | |
ChPhysicsItem (const ChPhysicsItem &other) | |
ChSystem * | GetSystem () const |
Get the pointer to the parent ChSystem(). | |
void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
Add an (optional) visualization model. More... | |
std::shared_ptr< ChVisualModel > | GetVisualModel () 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< ChVisualShape > | GetVisualShape (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< ChVisualShapeFEA > | GetVisualShapeFEA (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 | SetNoSpeedNoAcceleration () |
Set zero speed (and zero accelerations) in state, without changing the position. 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 | 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 () |
Additional Inherited Members | |
Public Types inherited from chrono::ChLinkMotorRotation | |
enum | SpindleConstraint { FREE, REVOLUTE, CYLINDRICAL, OLDHAM } |
Type of guide constraint. | |
Public Types inherited from chrono::ChLinkMateGeneric | |
using | ChConstraintVectorX = Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor, 6, 1 > |
Protected Member Functions inherited from chrono::ChLinkMateGeneric | |
void | SetupLinkMask () |
void | ChangedLinkMask () |
Protected Attributes inherited from chrono::ChLinkMotorRotation | |
double | mrot |
double | mrot_dt |
double | mrot_dtdt |
Protected Attributes inherited from chrono::ChLinkMotor | |
std::shared_ptr< ChFunction > | m_func |
Protected Attributes inherited from chrono::ChLinkMateGeneric | |
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::ChLink | |
ChBodyFrame * | Body1 |
first connected body | |
ChBodyFrame * | Body2 |
second connected body | |
ChVector | react_force |
store the xyz reactions, expressed in local coordinate system of link; | |
ChVector | react_torque |
store the torque reactions, expressed in local coordinate system of link; | |
Protected Attributes inherited from chrono::ChLinkBase | |
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. | |
Protected Attributes inherited from chrono::ChPhysicsItem | |
ChSystem * | system |
parent system | |
std::shared_ptr< ChVisualModelInstance > | vis_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()
|
overridevirtual |
Method to allow deserialization of transient data from archives.
Method to allow de serialization of transient data from archives.
Reimplemented from chrono::ChLinkMotorRotation.
◆ 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::ChLinkMateGeneric.
◆ GetDOF()
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overridevirtual |
Get the number of scalar coordinates (variables), if any, in this item.
Children classes must override this.
Reimplemented from chrono::ChPhysicsItem.
◆ GetInnerShaft1()
|
inline |
Access the inner 1D shaft connected to the rotation of body1 about dir of motor shaft.
The shaft can be connected to other shafts with ChShaftsClutch or similar items.
◆ GetInnerTorque1()
|
inline |
Get the torque between body 1 and inner shaft 1.
Note: cohincident with GetMotorTorque() of this motor. Note: if driveline is not connected to outer 1D shafts, it should be GetInnerTorque2() = - GetInnerTorque1()
◆ Initialize() [1/3]
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overridevirtual |
Specialized initialization for LinkMotorRotationDriveline, 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
-
mbody1 first body to link mbody2 second body to link pos_are_relative true: following pos. are relative to bodies mframe1 slave frame 1 (rel. or abs.) mframe2 master frame 2 (rel. or abs.)
Reimplemented from chrono::ChLinkMateGeneric.
◆ Initialize() [2/3]
|
overridevirtual |
Specialized initialization for LinkMotorRotationDriveline 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
-
mbody1 first body to link mbody2 second body to link pos_are_relative true: following pos. are relative to bodies mpt1 origin of slave frame 1 (rel. or abs.) mpt2 origin of master frame 2 (rel. or abs.) mnorm1 X axis of slave plane 1 (rel. or abs.) mnorm2 X axis of master plane 2 (rel. or abs.)
Reimplemented from chrono::ChLinkMateGeneric.
◆ Initialize() [3/3]
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overridevirtual |
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
-
mbody1 first body to link mbody2 second body to link mabsframe mate frame, in abs. coordinate
Reimplemented from chrono::ChLinkMateGeneric.
◆ IntFromDescriptor()
|
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::ChLinkMateGeneric.
◆ IntLoadConstraint_C()
|
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::ChLinkMateGeneric.
◆ IntLoadConstraint_Ct()
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overridevirtual |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*Ct c a scaling factor
Reimplemented from chrono::ChLinkMateGeneric.
◆ IntLoadResidual_CqL()
|
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::ChLinkMateGeneric.
◆ IntLoadResidual_F()
|
overridevirtual |
Takes the F force term, scale and adds to R at given offset: R += c*F.
- Parameters
-
off offset in R residual R result: the R residual, R += c*F c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_Mv()
|
overridevirtual |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.
- Parameters
-
off offset in R residual R result: the R residual, R += c*M*v w the w vector c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGather()
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overridevirtual |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets.
- Parameters
-
off_x offset in x state vector x state vector, position part off_v offset in v state vector v state vector, speed part T time
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGatherAcceleration()
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overridevirtual |
From item's state acceleration to global acceleration vector.
- Parameters
-
off_a offset in a accel. vector a acceleration part of state vector derivative
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::ChLinkMateGeneric.
◆ IntStateGetIncrement()
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overridevirtual |
Computes Dt = x_new - x, using vectors at specified offsets.
By default, when DOF = DOF_w, it does just the difference of two state vectors, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.
- Parameters
-
off_x offset in x state vector x_new state vector, final position part x state vector, initial position part off_v offset in v state vector Dv state vector, increment. Here gets the result
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateIncrement()
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overridevirtual |
Computes x_new = x + Dt , using vectors at specified offsets.
By default, when DOF = DOF_w, it does just the sum, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.
- Parameters
-
off_x offset in x state vector x_new state vector, position part, incremented result x state vector, initial position part off_v offset in v state vector Dv state vector, increment
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatter()
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overridevirtual |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.
- Parameters
-
off_x offset in x state vector x state vector, position part off_v offset in v state vector v state vector, speed part T time full_update perform complete update
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatterAcceleration()
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overridevirtual |
From global acceleration vector to item's state acceleration.
- Parameters
-
off_a offset in a accel. vector a acceleration part of state vector derivative
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::ChLinkMateGeneric.
◆ IntToDescriptor()
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overridevirtual |
Prepare variables and constraints to accommodate a solution:
- Parameters
-
off_v offset for v and R v vector copied into the q 'unknowns' term of the variables R vector copied into the F 'force' term of the variables off_L offset for L and Qc L vector copied into the L 'lagrangian ' term of the constraints Qc vector copied into the Qb 'constraint' term of the constraints
Reimplemented from chrono::ChLinkMateGeneric.
◆ SetSystem()
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inlineoverridevirtual |
Set the pointer to the parent ChSystem().
Also add to new collision system / remove from old collision system.
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesFbIncrementMq()
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overridevirtual |
Adds M*q (masses multiplied current 'qb') to Fb, ex.
if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesQbIncrementPosition()
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overridevirtual |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.
pos+=qb*step If qb is a speed, this behaves like a single step of 1-st order numerical integration (Eulero integration).
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesQbLoadSpeed()
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overridevirtual |
Initialize the 'qb' part of the ChVariables with the current value of speeds.
Note: since 'qb' is the unknown, this function seems unnecessary, unless used before VariablesFbIncrementMq()
Reimplemented from chrono::ChPhysicsItem.
◆ VariablesQbSetSpeed()
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overridevirtual |
Fetches the item speed (ex.
linear and angular vel.in rigid bodies) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.
Reimplemented from chrono::ChPhysicsItem.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChLinkMotorRotationDriveline.h
- /builds/uwsbel/chrono/src/chrono/physics/ChLinkMotorRotationDriveline.cpp