chrono::ChShaftsFreewheel Class Reference
Description
Class for defining a 'freewheel' (a 1D model of a ratchet wheel) between two one-degree-of-freedom parts.
#include <ChShaftsFreewheel.h>
Inheritance diagram for chrono::ChShaftsFreewheel:
Collaboration diagram for chrono::ChShaftsFreewheel:
Public Member Functions | |
| ChShaftsFreewheel (const ChShaftsFreewheel &other) | |
| virtual ChShaftsFreewheel * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual unsigned int | GetNumConstraintsBilateral () override |
| Number of scalar constraints. | |
| void | SetRatchetingModeStep (double mt) |
| Set if you want the clutch to work in "ratcheting mode", here defined via an angular step in [rad]. More... | |
| void | SetRatchetingModeTeeth (int n_teeth) |
| Set if you want the clutch to work in "ratcheting mode", here defined via a number of teeth. More... | |
| void | SetJammingMode () |
| Set if you want the clutch to work in "jamming mode" like a sprag clutch, based on friction with pawls and jamming. More... | |
| double | GetRatchetingStep () const |
| Get the angular step [rad], if a "ratcheting mode" freewheel (it is zero if in "jamming mode"). | |
| bool | IsModeJamming () const |
| True if the clutch is working in "jamming mode" like a sprag clutch. More... | |
| bool | IsModeRatcheting () |
| True if the clutch is working in "ratcheting mode". More... | |
| void | SetFreeForward () |
| Shaft 1 free to rotate forward respect to shaft 2. More... | |
| void | SetFreeBackward () |
| Shaft 1 free to rotate backward respect to shaft 2. More... | |
| bool | IsFreeForward () const |
| If true, shaft 1 is free to rotate forward respect to shaft 2 (default). More... | |
| void | SetPhase (double p) |
| If in "ratcheting mode", this is the phase of the first tooth respect to zero rotation of shaft 1. Default 0. | |
| double | GetPhase () const |
| If in "ratcheting mode", this is the phase of the first tooth respect to zero rotation of shaft 1. | |
| double | GetReaction1 () const override |
| Get the reaction torque exchanged between the two shafts, considered as applied to the 1st axis. | |
| double | GetReaction2 () const override |
| Get the reaction torque exchanged between the two shafts, considered as applied to the 2nd axis. | |
| double | GetConstraintViolation () const |
| Return current constraint violation. | |
| double | GetMaxReachedRelativeRotation () const |
| Return current max relative rotation. | |
| double | GetCurrentTeethVane () const |
| Return the current teeth vane in ratcheting freewheel (returns zero if in jamming mode). | |
| bool | Initialize (std::shared_ptr< ChShaft > shaft_1, std::shared_ptr< ChShaft > shaft_2) override |
| Use this function after gear creation, to initialize it, given two shafts to join. More... | |
| 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::ChShaftsCouple | |
| ChShaftsCouple (const ChShaftsCouple &other) | |
| virtual unsigned int | GetNumAffectedCoords () |
| Get the number of scalar variables affected by constraints in this couple. | |
| ChShaft * | GetShaft1 () const |
| Get the first (input) shaft. | |
| ChShaft * | GetShaft2 () const |
| Get the second (output) shaft. | |
| double | GetRelativePos () const |
| Get the actual relative position (angle or displacement) in terms of phase of shaft 1 with respect to 2. | |
| double | GetRelativePosDt () const |
| Get the actual relative speed (angle or displacement) of shaft 1 with respect to 2. | |
| double | GetRelativePosDt2 () const |
| Get the actual relative acceleration (angle or displacement) of shaft 1 with respect to 2. | |
| 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 | GetNumCoordsPosLevel () |
| Get the number of coordinates at the position level. More... | |
| virtual unsigned int | GetNumCoordsVelLevel () |
| Get the number of coordinates at the velocity level. 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 | 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 M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*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 | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
| Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
| virtual void | InjectVariables (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChVariable objects associated with this item. | |
| 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 | 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. | |
| 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 () |
Additional Inherited Members | |
| Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
| Protected Attributes inherited from chrono::ChShaftsCouple | |
| ChShaft * | shaft1 |
| first shaft | |
| ChShaft * | shaft2 |
| second shaft | |
| 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
◆ Initialize()
|
overridevirtual |
Use this function after gear creation, to initialize it, given two shafts to join.
Each shaft must belong to the same ChSystem. By default this is a ratcheting clutch with 24 teeth: use SetRatchetingModeTeeth() or SetRatchetingModeStep() or SetJammingMode() to change this.
- Parameters
-
shaft_1 first shaft to join shaft_2 second shaft to join
Reimplemented from chrono::ChShaftsCouple.
◆ IsFreeForward()
|
inline |
If true, shaft 1 is free to rotate forward respect to shaft 2 (default).
Viceversa, if false. Use SetFreeForward() or SetFreeBackward() to change this mode.
◆ IsModeJamming()
|
inline |
True if the clutch is working in "jamming mode" like a sprag clutch.
This represents a perfect unidirectional clutch without backward backlash.
◆ IsModeRatcheting()
|
inline |
True if the clutch is working in "ratcheting mode".
This implies some periodic backward backlash.
◆ SetFreeBackward()
| void chrono::ChShaftsFreewheel::SetFreeBackward | ( | ) |
Shaft 1 free to rotate backward respect to shaft 2.
Viceversa, forward rotation of 1 respect to 2 is prevented and will generate a torque.
◆ SetFreeForward()
| void chrono::ChShaftsFreewheel::SetFreeForward | ( | ) |
Shaft 1 free to rotate forward respect to shaft 2.
Viceversa, backward rotation of 1 respect to 2 is prevented and will generate a torque.
◆ SetJammingMode()
| void chrono::ChShaftsFreewheel::SetJammingMode | ( | ) |
Set if you want the clutch to work in "jamming mode" like a sprag clutch, based on friction with pawls and jamming.
This is like a ratcheting clutch with infinite teeth, hence a perfect unidirectional clutch without backward backlash, but instead of using SetRatchetingModeStep(0), that can't work well because of bad conditioning, just use this.
◆ SetRatchetingModeStep()
| void chrono::ChShaftsFreewheel::SetRatchetingModeStep | ( | double | mt | ) |
Set if you want the clutch to work in "ratcheting mode", here defined via an angular step in [rad].
When in ratcheting mode, there is a periodic "backward backlash", like in bicycle freewheels.
◆ SetRatchetingModeTeeth()
| void chrono::ChShaftsFreewheel::SetRatchetingModeTeeth | ( | int | n_teeth | ) |
Set if you want the clutch to work in "ratcheting mode", here defined via a number of teeth.
When in ratcheting mode, there is a periodic "backward backlash", like in bicycle freewheels.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChShaftsFreewheel.h
- /builds/uwsbel/chrono/src/chrono/physics/ChShaftsFreewheel.cpp
