Description

Load representing a torque applied to a rigid body.

Torque direction does not rotate with the body. The magnitude of the applied torque can be optionally modulated by a function of time. The default modulation is the constant function with value 1.

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyTorque:

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Collaboration diagram for chrono::ChLoadBodyTorque:

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Public Member Functions
	ChLoadBodyTorque (std::shared_ptr< ChBody > body, const ChVector<> &torque, bool local_torque)

virtual ChLoadBodyTorque *	Clone () const override
	"Virtual" copy constructor (covariant return type).

void	SetTorque (const ChVector<> &torque, bool is_local)
	Set the constant torque vector. More...

ChVector	GetTorque () const
	Return the current torque vector (scaled by the current modulation value).

void	SetModulationFunction (std::shared_ptr< ChFunction > modulation)
	Set modulation function. More...

virtual void	ComputeQ (ChState state_x, ChStateDelta state_w) override
	Compute Q, the generalized load. More...

Public Member Functions inherited from chrono::ChLoadCustom
	ChLoadCustom (std::shared_ptr< ChLoadable > mloadable)

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, 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	LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override
	Default fallback: compute jacobians via ComputeJacobian(), then use M=-dQ/da to do R += cMw. More...

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	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)

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 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 ()

Additional Inherited Members
Public Attributes inherited from chrono::ChLoadCustom
std::shared_ptr< ChLoadable >	loadable

ChVectorDynamic	load_Q

Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobians *	jacobians

Protected Attributes inherited from chrono::ChObj
double	ChTime
	the time of simulation for the object

Constructor & Destructor Documentation

◆ ChLoadBodyTorque()

chrono::ChLoadBodyTorque::ChLoadBodyTorque	(	std::shared_ptr< ChBody >	body,
		const ChVector<> &	torque,
		bool	local_torque
	)

Parameters

body	object to apply load to
torque	torque to apply
local_torque	torque is in body local coords

Member Function Documentation

◆ ComputeQ()

void chrono::ChLoadBodyTorque::ComputeQ	(	ChState *	state_x,
		ChStateDelta *	state_w
	)

overridevirtual

Compute Q, the generalized load.

Called automatically at each Update().

Parameters

state_x	state position to evaluate Q
state_w	state speed to evaluate Q

Implements chrono::ChLoadBase.

◆ SetModulationFunction()

void chrono::ChLoadBodyTorque::SetModulationFunction ( std::shared_ptr< ChFunction > modulation )

inline

Set modulation function.

This is a function of time which (optionally) modulates the specified applied force. By default the modulation is a constant function, always returning a value of 1.

◆ SetTorque()

void chrono::ChLoadBodyTorque::SetTorque	(	const ChVector<> &	torque,
		bool	is_local
	)

Set the constant torque vector.

This value is optionally modulated by a function of time.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.h
/builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.cpp