Description

Load representing a spring between a ChNodeXYZ and a ChBody, where the anchoring to body can be set via SetApplicationFrameB().

#include <ChLoadsXYZnode.h>

Inheritance diagram for chrono::ChLoadXYZnodeBodySpring:

[legend]

Collaboration diagram for chrono::ChLoadXYZnodeBodySpring:

[legend]

Public Member Functions
	ChLoadXYZnodeBodySpring (std::shared_ptr< ChNodeXYZ > mnodeA, std::shared_ptr< ChBody > mbodyB, double mK, double mR, double mD0=0)

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

virtual void	ComputeForce (const ChFrameMoving<> &rel_AB, ChVector<> &loc_force) override
	Compute the force on the nodeA, in local coordsystem of SetApplicationFrameB (the auxiliary frame attached to body) given relative position of nodeA respect to B. More...

void	SetStiffness (const double mstiffness)
	Set stiffness, along direction, es [N/m].

double	GetStiffness () const

void	SetDamping (const double mdamping)
	Set damping, along direction, es [Ns/m].

double	GetDamping () const

void	SetRestLength (const double mrest)
	Set initial spring length, es [m].

double	GetRestLength () const

void	SetStiff (bool ms)
	Use this to enable the stiff force computation (i.e. More...

Public Member Functions inherited from chrono::ChLoadXYZnodeBody
	ChLoadXYZnodeBody (std::shared_ptr< ChNodeXYZ > nodeA, std::shared_ptr< ChBody > bodyB)

ChVector	GetForce () const
	For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to node.

void	SetApplicationFrameB (const ChFrame<> &mpB)
	Set the application frame of bushing on bodyB.

ChFrame	GetApplicationFrameB () const

ChFrameMoving	GetAbsoluteFrameB () const
	Get absolute coordinate of frame B (last computed)

std::shared_ptr< ChNodeXYZ >	GetNodeA () const

std::shared_ptr< ChBody >	GetBodyB () const

Public Member Functions inherited from chrono::ChLoadCustomMultiple
	ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &mloadables)

	ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB)

	ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB, std::shared_ptr< ChLoadable > mloadableC)

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	Update (double time)
	Update: this is called at least at each time step. More...

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 ()

Protected Member Functions
virtual bool	IsStiff () override
	Report if this is load is stiff. More...

Protected Member Functions inherited from chrono::ChLoadXYZnodeBody
virtual void	ComputeQ (ChState state_x, ChStateDelta state_w) override
	Compute Q, the generalized load. More...

Protected Attributes
double	K

double	R

double	d_0

bool	is_stiff

Protected Attributes inherited from chrono::ChLoadXYZnodeBody
ChFrame	loc_application_B
	application point on body B (local)

ChVector	computed_loc_force
	store computed values here

ChFrameMoving	frame_Aw
	for results

ChFrameMoving	frame_Bw
	for results

Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobians *	jacobians

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

Additional Inherited Members
Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > >	loadables

ChVectorDynamic	load_Q

Constructor & Destructor Documentation

◆ ChLoadXYZnodeBodySpring()

chrono::ChLoadXYZnodeBodySpring::ChLoadXYZnodeBodySpring	(	std::shared_ptr< ChNodeXYZ >	mnodeA,
		std::shared_ptr< ChBody >	mbodyB,
		double	mK,
		double	mR,
		double	mD0 = `0`
	)

Parameters

mnodeA	node to apply load to
mbodyB	node to apply load to as reaction
mK	stiffness,
mR	damping,
mD0	initial rest length

Member Function Documentation

◆ ComputeForce()

void chrono::ChLoadXYZnodeBodySpring::ComputeForce	(	const ChFrameMoving<> &	rel_AB,
		ChVector<> &	loc_force
	)

overridevirtual

Compute the force on the nodeA, in local coordsystem of SetApplicationFrameB (the auxiliary frame attached to body) given relative position of nodeA respect to B.

Compute the force on the node, in absolute coordsystem, given position of node as abs_pos.

Implements chrono::ChLoadXYZnodeBody.

◆ IsStiff()

virtual bool chrono::ChLoadXYZnodeBodySpring::IsStiff ( )

inlineoverrideprotectedvirtual

Report if this is load is stiff.

If so, InjectKRMmatrices will provide the jacobians of the load.

Implements chrono::ChLoadBase.

◆ SetStiff()

void chrono::ChLoadXYZnodeBodySpring::SetStiff ( bool ms )

inline

Use this to enable the stiff force computation (i.e.

it enables the automated computation of the jacobian by numerical differentiation to elp the convergence of implicit integrators, but adding CPU overhead).

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

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

Description

Public Member Functions

Protected Member Functions