Description

A motion function p=f(s) where p(t) is defined with a ChLine geometry object, ex.

#include <ChFunctionPositionLine.h>

Inheritance diagram for chrono::ChFunctionPositionLine:

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Collaboration diagram for chrono::ChFunctionPositionLine:

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Public Member Functions
	ChFunctionPositionLine (const ChFunctionPositionLine &other)

virtual ChFunctionPositionLine *	Clone () const override
	"Virtual" copy constructor.

std::shared_ptr< ChLine >	GetLine () const
	Get the trajectory line.

void	SetLine (std::shared_ptr< ChLine > line)
	Sets the trajectory line (take ownership - does not copy line)

std::shared_ptr< ChFunction >	GetSpaceFunction () const
	Gets the address of the function u=u(s) telling how the curvilinear parameter u of the spline changes in s (time).

void	SetSpaceFunction (std::shared_ptr< ChFunction > funct)
	Sets the function u=u(s) telling how the curvilinear parameter of the spline changes in s (time). More...

virtual ChVector3d	GetPos (double s) const override
	Return the position imposed by the function, at s.

virtual ChVector3d	GetLinVel (double s) const override
	Return the linear velocity imposed by the function, at s.

virtual ChVector3d	GetLinAcc (double s) const override
	Return the linear acceleration imposed the function, at s.

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 de-serialization of transient data from archives.

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

virtual void	Update (double t)
	Update could be implemented by children classes, ex. to launch callbacks.

Member Function Documentation

void chrono::ChFunctionPositionLine::SetSpaceFunction ( std::shared_ptr< ChFunction > funct )

inline

Sets the function u=u(s) telling how the curvilinear parameter of the spline changes in s (time).

Otherwise, by default, is a linear ramp, so evaluates the spline from begin at s=0 to end at s=1

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