Description
Base class for loads representing a concentrated wrench (force + torque) acting on a ChNodeFEAxyzrot.
Users should inherit from this and implement custom ComputeForceTorque(), this is enough to have the load working. Note: there are already some predefined examples, i.e. children classes with common concrete implementations, such as ChLoadXYZROTnodeForceAbsolute; take inspiration from those example to inherit your own load if they are not enough.
#include <ChLoadsXYZROTnode.h>
Public Member Functions | |
ChLoadXYZROTnode (std::shared_ptr< ChNodeFEAxyzrot > body) | |
virtual void | ComputeForceTorque (const ChFrameMoving<> &node_frame_abs_pos_vel, ChVector<> &abs_force, ChVector<> &abs_torque)=0 |
Compute the force and torque on the node, in absolute coordsystem, given absolute position and speed of node passed via node_frame_abs_pos_vel. More... | |
virtual void | ComputeQ (ChState *state_x, ChStateDelta *state_w) override |
Compute Q, the generalized load. More... | |
ChVector | GetForce () const |
For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in absolute coordinate system, assumed applied to node. | |
ChVector | GetTorque () const |
For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in absolute coordinate system, assumed applied to node. | |
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 += c*M*w. 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) | |
virtual ChObj * | Clone () const =0 |
"Virtual" copy constructor. More... | |
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 |
Inherited classes could override this and return true, if the load benefits from a jacobian when using implicit integrators. | |
virtual void | Update (double time) override |
Update: this is called at least at each time step. More... | |
Protected Attributes | |
ChVector | computed_abs_force |
ChVector | computed_abs_torque |
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::ChLoadCustom | |
std::shared_ptr< ChLoadable > | loadable |
ChVectorDynamic | load_Q |
Constructor & Destructor Documentation
◆ ChLoadXYZROTnode()
chrono::fea::ChLoadXYZROTnode::ChLoadXYZROTnode | ( | std::shared_ptr< ChNodeFEAxyzrot > | body | ) |
- Parameters
-
body node to apply load to
Member Function Documentation
◆ ComputeForceTorque()
|
pure virtual |
Compute the force and torque on the node, in absolute coordsystem, given absolute position and speed of node passed via node_frame_abs_pos_vel.
Inherited classes MUST IMPLEMENT THIS.
Implemented in chrono::fea::ChLoadXYZROTnodeForceAbsolute.
◆ ComputeQ()
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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.
◆ Update()
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overrideprotectedvirtual |
Update: this is called at least at each time step.
- It recomputes the generalized load Q vector(s)
- It recomputes the jacobian(s) K,R,M in case of stiff load Q and jacobians assumed evaluated at the current state. Jacobian structures are automatically allocated if needed.
Reimplemented from chrono::ChLoadBase.
Reimplemented in chrono::fea::ChLoadXYZROTnodeForceAbsolute.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/fea/ChLoadsXYZROTnode.h
- /builds/uwsbel/chrono/src/chrono/fea/ChLoadsXYZROTnode.cpp