Description

Class for feeders like vibrating bowls, conveyor belts.

Compared to ChConveyor, this class provides more functionality, where the vibrating feeder can have any shape. The trick is that the feeder part needs not to vibrate: this ChFeeder simply modifies the contact data between colliding parts and the part marked as feeder (which can be simply static) so that a tangential velocity is imposed: the overall effect is like what happens for very high frequency of vibration.

#include <ChFeeder.h>

Inheritance diagram for chrono::ChFeeder:

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Collaboration diagram for chrono::ChFeeder:

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Public Member Functions
	ChFeeder (const ChFeeder &other)

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

void	SetFeederObject (std::shared_ptr< ChContactable > mfeeder)
	Set the feeder object, defining the surface of the vibrating feeder.

std::shared_ptr< ChContactable >	GetFeederObject ()
	Get the feeder object, defining the surface of the vibrating feeder.

void	SetFeederVibration (ChFrame<> ref, double vx, double vy, double vz, double wx, double wy, double wz)
	Set the reference for the (virtual, not simulated) vibration of the feeder, in abs space. More...

void	GetFeederVibration (ChFrame<> &ref, double &vx, double &vy, double &vz, double &wx, double &wy, double &wz)
	Get the reference for the (virtual, not simulated) vibration of the feeder, in abs space.

virtual unsigned int	GetNumCoordsPosLevel () override
	Number of coordinates.

virtual unsigned int	GetNumCoordsVelLevel () override
	Number of speed coordinates.

virtual unsigned int	GetNumConstraintsBilateral () override
	Get the number of scalar constraints.

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow deserialization of transient data from archives.

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

ChSystem *	GetSystem () 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< 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 ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. 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	IsActive () const
	Return true if the object is active and included in dynamics.

virtual bool	IsCollisionEnabled () const
	Tell if the object is subject to collision. More...

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
	Add to the provided collision system any collision models managed by this physics item. More...

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
	Remove from the provided collision system any collision models managed by this physics item. More...

virtual void	SyncCollisionModels ()
	Synchronize the position and bounding box of any collsion models managed by this physics item.

virtual ChAABB	GetTotalAABB ()
	Get the entire AABB axis-aligned bounding box of the object. More...

virtual void	GetCenter (ChVector3d &mcenter)
	Get a symbolic 'center' of the object. More...

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	Update (bool update_assets=true)
	As above, but does not require updating of time-dependent data. More...

virtual void	ForceToRest ()
	Set zero speed (and zero accelerations) in state, without changing the position. More...

virtual unsigned int	GetNumConstraints ()
	Get the number of scalar constraints.

virtual unsigned int	GetNumConstraintsUnilateral ()
	Get the number of unilateral scalar constraints.

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	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
	From item's reaction forces to global reaction vector. More...

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
	From global reaction vector to item's reaction forces. 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 Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c)
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
	Takes the term Cq'L, scale and adds to R at given offset: R += cCq'*L. More...

virtual void	IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
	Takes the term C, scale and adds to Qc at given offset: Qc += c*C. 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)
	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)
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	InjectVariables (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	InjectConstraints (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChConstraint objects associated with this item.

virtual void	LoadConstraintJacobians ()
	Compute and load current Jacobians in encapsulated ChConstraint objects.

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. 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	ConstraintsBiReset ()
	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)
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1)
	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	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	ConstraintsFetch_react (double factor=1)
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

virtual std::string &	ArchiveContainerName ()

Public Attributes
ChFrame	reference

double	v_x

double	v_y

double	v_z

double	w_x

double	w_y

double	w_z

Additional Inherited Members
Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

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
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

Member Function Documentation

◆ SetFeederVibration()

void chrono::ChFeeder::SetFeederVibration	(	ChFrame<>	ref,
		double	vx,
		double	vy,
		double	vz,
		double	wx,
		double	wy,
		double	wz
	)

Set the reference for the (virtual, not simulated) vibration of the feeder, in abs space.

Also set the eigenvector of the vibration mode as x,y,z,rx,ry,rz about that frame. The six values also define the max speed on that axis.

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

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

Description

Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ SetFeederVibration()