Description

template<class Real = double>
class chrono::ChFrameMoving< Real >

Representation of a moving 3D.

A ChFrameMoving is a ChFrame that also keeps track of the frame velocity and acceleration.

See Coordinate Systems manual page.

#include <ChFrameMoving.h>

Inheritance diagram for chrono::ChFrameMoving< Real >:

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Collaboration diagram for chrono::ChFrameMoving< Real >:

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Public Member Functions
	ChFrameMoving ()
	Default constructor (identity frame).

	ChFrameMoving (const ChVector3< Real > &v, const ChQuaternion< Real > &q=ChQuaternion< Real >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion).

	ChFrameMoving (const ChVector3< Real > &v, const ChMatrix33< Real > &R)
	Construct from pos and rotation (as a 3x3 matrix).

	ChFrameMoving (const ChCoordsys< Real > &C)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< Real > &F)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< Real > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< Real > &	operator= (const ChFrameMoving< Real > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< Real > &	operator= (const ChFrame< Real > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< Real > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< Real > &other) const
	Returns true for different frames.

ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &F) const
	Transform another frame through this frame. More...

ChFrameMoving< Real >	operator* (const ChFrameMoving< Real > &F) const
	Transform another frame through this frame. More...

ChFrameMoving< Real > &	operator>>= (const ChFrameMoving< Real > &F)
	Transform this frame by pre-multiplication with another frame. More...

ChFrameMoving< Real > &	operator*= (const ChFrameMoving< Real > &F)
	Transform this frame by post-multiplication with another frame. More...

ChFrameMoving< Real > &	operator>>= (const ChVector3< Real > &v)
	Transform this frame by pre-multiplication with a given vector (translate frame).

ChFrameMoving< Real > &	operator>>= (const ChQuaternion< Real > &q)
	Transform this frame by pre-multiplication with a given quaternion (rotate frame).

ChFrameMoving< Real > &	operator>>= (const ChCoordsys< Real > &C)
	Transform this frame by pre-multiplication with a given coordinate system.

ChFrameMoving< Real > &	operator>>= (const ChFrame< Real > &F)
	Transform this frame by pre-multiplication with another frame.

const ChCoordsys< Real > &	GetCoordsysDt () const
	Return both rotation and translation velocities as a ChCoordsys object.

const ChCoordsys< Real > &	GetCoordsysDt2 () const
	Return both rotation and translation accelerations as a ChCoordsys object.

const ChVector3< Real > &	GetPosDt () const
	Return the linear velocity.

const ChVector3< Real > &	GetLinVel () const
	Return the linear velocity.

const ChVector3< Real > &	GetPosDt2 () const
	Return the linear acceleration.

const ChVector3< Real > &	GetLinAcc () const
	Return the linear acceleration.

const ChQuaternion< Real > &	GetRotDt () const
	Return the rotation velocity as a quaternion.

const ChQuaternion< Real > &	GetRotDt2 () const
	Return the rotation acceleration as a quaternion.

ChVector3< Real >	GetAngVelLocal () const
	Compute the angular velocity (expressed in local coords).

ChVector3< Real >	GetAngVelParent () const
	Compute the actual angular velocity (expressed in parent coords).

ChVector3< Real >	GetAngAccLocal () const
	Compute the actual angular acceleration (expressed in local coords).

ChVector3< Real >	GetAngAccParent () const
	Compute the actual angular acceleration (expressed in parent coords).

virtual void	SetCoordsysDt (const ChCoordsys< Real > &csys_dt)
	Set both linear and rotation velocities as a single ChCoordsys derivative.

virtual void	SetPosDt (const ChVector3< Real > &vel)
	Set the linear velocity.

virtual void	SetLinVel (const ChVector3< Real > &vel)
	Set the linear velocity.

virtual void	SetRotDt (const ChQuaternion< Real > &q_dt)
	Set the rotation velocity as a quaternion derivative. More...

virtual void	SetAngVelLocal (const ChVector3< Real > &w)
	Set the rotation velocity from the given angular velocity (expressed in local coordinates).

virtual void	SetAngVelParent (const ChVector3< Real > &w)
	Set the rotation velocity from given angular velocity (expressed in parent coordinates).

virtual void	SetCoordsysDt2 (const ChCoordsys< Real > &csys_dtdt)
	Set the linear and rotation accelerations as a single ChCoordsys derivative.

virtual void	SetPosDt2 (const ChVector3< Real > &acc)
	Set the linear acceleration.

virtual void	SetLinAcc (const ChVector3< Real > &acc)
	Set the linear acceleration.

virtual void	SetRotDt2 (const ChQuaternion< Real > &q_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetAngAccLocal (const ChVector3< Real > &a)
	Set the rotation acceleration from given angular acceleration (expressed in local coordinates). More...

virtual void	SetAngAccParent (const ChVector3< Real > &a)
	Set the rotation acceleration from given angular acceleration (expressed in parent coordinates).

void	ComputeRotMatDt (ChMatrix33< Real > &R_dt) const
	Compute the time derivative of the rotation matrix.

void	ComputeRotMatDt2 (ChMatrix33< Real > &R_dtdt)
	Compute the second time derivative of the rotation matrix.

ChMatrix33< Real >	GetRotMatDt ()
	Return the time derivative of the rotation matrix.

ChMatrix33< Real >	GetRotMatDt2 ()
	Return the second time derivative of the rotation matrix.

void	ConcatenatePreTransformation (const ChFrameMoving< Real > &F)
	Apply a transformation (rotation and translation) represented by another frame. More...

void	ConcatenatePostTransformation (const ChFrameMoving< Real > &F)
	Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...

ChVector3< Real >	PointSpeedLocalToParent (const ChVector3< Real > &localpos) const
	Return the velocity in the parent frame of a point fixed to this frame and expressed in local coordinates.

ChVector3< Real >	PointSpeedLocalToParent (const ChVector3< Real > &localpos, const ChVector3< Real > &localspeed) const
	Return the velocity in the parent frame of a moving point, given the point location and velocity expressed in local coordinates.

ChVector3< Real >	PointAccelerationLocalToParent (const ChVector3< Real > &localpos) const
	Return the acceleration in the parent frame of a point fixed to this frame and expressed in local coordinates. More...

ChVector3< Real >	PointAccelerationLocalToParent (const ChVector3< Real > &localpos, const ChVector3< Real > &localspeed, const ChVector3< Real > &localacc) const
	Return the acceleration in the parent frame of a moving point, given the point location, velocity, and acceleration expressed in local coordinates.

ChVector3< Real >	PointSpeedParentToLocal (const ChVector3< Real > &parentpos, const ChVector3< Real > &parentspeed) const
	Return the velocity of a point expressed in this frame, given the point location and velocity in the parent frame.

ChVector3< Real >	PointAccelerationParentToLocal (const ChVector3< Real > &parentpos, const ChVector3< Real > &parentspeed, const ChVector3< Real > &parentacc) const
	Return the acceleration of a point expressed in this frame, given the point location, velocity, and acceleration in the parent frame.

ChFrameMoving< Real >	TransformLocalToParent (const ChFrameMoving< Real > &F) const
	Transform a moving frame from 'this' local coordinate system to parent frame coordinate system.

ChFrameMoving< Real >	TransformParentToLocal (const ChFrameMoving< Real > &F) const
	Transform a moving frame from the parent coordinate system to 'this' local frame coordinate system.

bool	Equals (const ChFrameMoving< Real > &other) const
	Returns true if this transform is identical to the other transform.

bool	Equals (const ChFrameMoving< Real > &other, Real tol) const
	Returns true if this transform is equal to the other transform, within a tolerance 'tol'.

virtual void	Invert () override
	Invert in place. More...

ChFrameMoving< Real >	GetInverse () const
	Return the inverse transform.

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::ChFrame< Real >
	ChFrame ()
	Default constructor (identity frame).

	ChFrame (const ChVector3< Real > &v, const ChQuaternion< Real > &q=ChQuaternion< Real >(1, 0, 0, 0))
	Construct from position and rotation (as quaternion).

	ChFrame (const ChVector3< Real > &v, const ChMatrix33< Real > &R)
	Construct from pos and rotation (as a 3x3 matrix).

	ChFrame (const ChVector3< Real > &v, const Real angle, const ChVector3< Real > &u)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChCoordsys< Real > &C)
	Construct from a coordsys.

	ChFrame (const ChFrame< Real > &other)
	Copy constructor, build from another frame.

ChFrame< Real > &	operator= (const ChFrame< Real > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrame< Real > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrame< Real > &other) const
	Returns true for different frames.

ChFrame< Real >	operator* (const ChFrame< Real > &F) const
	Transform another frame through this frame. More...

ChFrame< Real >	operator>> (const ChFrame< Real > &F) const
	Transform another frame through this frame. More...

ChVector3< Real >	operator* (const ChVector3< Real > &v) const
	Transform a vector through this frame (express in parent frame). More...

ChVector3< Real >	operator/ (const ChVector3< Real > &v) const
	Transform a vector through this frame (express from parent frame). More...

ChFrame< Real > &	operator>>= (const ChFrame< Real > &F)
	Transform this frame by pre-multiplication with another frame. More...

ChFrame< Real > &	operator*= (const ChFrame< Real > &F)
	Transform this frame by post-multiplication with another frame. More...

ChFrame< Real > &	operator>>= (const ChVector3< Real > &v)
	Transform this frame by pre-multiplication with a given vector (translate frame).

ChFrame< Real > &	operator>>= (const ChQuaternion< Real > &q)
	Transform this frame by pre-multiplication with a given quaternion (rotate frame).

ChFrame< Real > &	operator>>= (const ChCoordsys< Real > &C)
	Transform this frame by pre-multiplication with a given coordinate system.

const ChCoordsys< Real > &	GetCoordsys () const
	Return both current rotation and translation as a ChCoordsys object.

const ChVector3< Real > &	GetPos () const
	Return the current translation vector.

const ChQuaternion< Real > &	GetRot () const
	Return the current rotation quaternion.

const ChMatrix33< Real > &	GetRotMat () const
	Return the current 3x3 rotation matrix.

ChVector3< Real >	GetRotAxis () const
	Get axis of finite rotation, in parent space.

Real	GetRotAngle () const
	Get angle of rotation about axis of finite rotation.

void	SetCoordsys (const ChCoordsys< Real > &C)
	Impose both translation and rotation as a single ChCoordsys. More...

void	SetCoordsys (const ChVector3< Real > &v, const ChQuaternion< Real > &q)
	Impose both translation and rotation. More...

void	SetRot (const ChQuaternion< Real > &q)
	Impose the rotation as a quaternion. More...

void	SetRot (const ChMatrix33< Real > &R)
	Impose the rotation as a 3x3 matrix. More...

void	SetPos (const ChVector3< Real > &pos)
	Impose the translation vector.

void	ConcatenatePreTransformation (const ChFrame< Real > &F)
	Apply a transformation (rotation and translation) represented by another frame. More...

void	ConcatenatePostTransformation (const ChFrame< Real > &F)
	Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...

void	Move (const ChVector3< Real > &v)
	An easy way to move the frame by the amount specified by vector v, (assuming v expressed in parent coordinates)

void	Move (const ChCoordsys< Real > &C)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

ChVector3< Real >	TransformPointLocalToParent (const ChVector3< Real > &v) const
	Transform a point from the local frame coordinate system to the parent coordinate system.

ChVector3< Real >	TransformPointParentToLocal (const ChVector3< Real > &v) const
	Transforms a point from the parent coordinate system to local frame coordinate system.

ChVector3< Real >	TransformDirectionLocalToParent (const ChVector3< Real > &d) const
	Transform a direction from the parent frame coordinate system to 'this' local coordinate system.

ChVector3< Real >	TransformDirectionParentToLocal (const ChVector3< Real > &d) const
	Transforms a direction from 'this' local coordinate system to parent frame coordinate system.

ChWrench< Real >	TransformWrenchLocalToParent (const ChWrench< Real > &w) const
	Transform a wrench from the local coordinate system to the parent coordinate system.

ChWrench< Real >	TransformWrenchParentToLocal (const ChWrench< Real > &w) const
	Transform a wrench from the parent coordinate system to the local coordinate system.

ChFrame< Real >	TransformLocalToParent (const ChFrame< Real > &F) const
	Transform a frame from 'this' local coordinate system to parent frame coordinate system.

ChFrame< Real >	TransformParentToLocal (const ChFrame< Real > &F) const
	Transform a frame from the parent coordinate system to 'this' local frame coordinate system.

bool	Equals (const ChFrame< Real > &other) const
	Returns true if this transform is identical to the other transform.

bool	Equals (const ChFrame< Real > &other, Real tol) const
	Returns true if this transform is equal to the other transform, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< Real >	GetInverse () const
	Return the inverse transform.

Protected Attributes
ChCoordsys< Real >	m_csys_dt
	rotation and position velocity, as vector + quaternion

ChCoordsys< Real >	m_csys_dtdt
	rotation and position acceleration, as vector + quaternion

Protected Attributes inherited from chrono::ChFrame< Real >
ChCoordsys< Real >	m_csys
	position and rotation, as vector + quaternion

ChMatrix33< Real >	m_rmat
	3x3 orthogonal rotation matrix

Friends
class	chrono::fmi2::FmuChronoComponentBase

class	chrono::fmi3::FmuChronoComponentBase

Member Function Documentation

◆ ConcatenatePostTransformation()

template<class Real = double>

void chrono::ChFrameMoving< Real >::ConcatenatePostTransformation ( const ChFrameMoving< Real > & F )

inline

Apply a transformation (rotation and translation) represented by another frame F in local coordinate.

This is equivalent to post-multiply this frame by the other frame F: this'= this * F or this'= F >> this

◆ ConcatenatePreTransformation()

template<class Real = double>

void chrono::ChFrameMoving< Real >::ConcatenatePreTransformation ( const ChFrameMoving< Real > & F )

inline

Apply a transformation (rotation and translation) represented by another frame.

This is equivalent to pre-multiply this frame by the other frame F: this'= F * this or this' = this >> F

◆ Invert()

template<class Real = double>

virtual void chrono::ChFrameMoving< Real >::Invert ( )

inlineoverridevirtual

Invert in place.

If w=A*v, after A.Invert() we have v=A*w;

Reimplemented from chrono::ChFrame< Real >.

◆ operator*()

template<class Real = double>

ChFrameMoving<Real> chrono::ChFrameMoving< Real >::operator* ( const ChFrameMoving< Real > & F ) const

inline

Transform another frame through this frame.

If A is this frame and F another frame expressed in A, then G = A * F is the frame F expresssed in the parent frame of A. For a sequence of transformations, i.e. a chain of coordinate systems, one can also write: G = F_1to0 * F_2to1 * F_3to2 * F; i.e., just like done with a sequence of Denavitt-Hartemberg matrix multiplications. This operation is not commutative. Velocities and accelerations are also transformed.

◆ operator*=()

template<class Real = double>

ChFrameMoving<Real>& chrono::ChFrameMoving< Real >::operator*= ( const ChFrameMoving< Real > & F )

inline

Transform this frame by post-multiplication with another frame.

If A is this frame, then A *= F means A' = A * F or A' = F >> A.

◆ operator>>()

template<class Real = double>

ChFrameMoving<Real> chrono::ChFrameMoving< Real >::operator>> ( const ChFrameMoving< Real > & F ) const

inline

Transform another frame through this frame.

If A is this frame and F another frame expressed in A, then G = F >> A is the frame F expresssed in the parent frame of A. For a sequence of transformations, i.e. a chain of coordinate systems, one can also write: G = F >> F_3to2 >> F_2to1 >> F_1to0; i.e., just like done with a sequence of Denavitt-Hartemberg matrix multiplications (but reverting order). This operation is not commutative. Velocities and accelerations are also transformed.

◆ operator>>=()

template<class Real = double>

ChFrameMoving<Real>& chrono::ChFrameMoving< Real >::operator>>= ( const ChFrameMoving< Real > & F )

inline

Transform this frame by pre-multiplication with another frame.

If A is this frame, then A >>= F means A' = F * A or A' = A >> F.

◆ PointAccelerationLocalToParent()

template<class Real = double>

ChVector3<Real> chrono::ChFrameMoving< Real >::PointAccelerationLocalToParent ( const ChVector3< Real > & localpos ) const

inline

Return the acceleration in the parent frame of a point fixed to this frame and expressed in local coordinates.

Note:

the first and second derivatives of pos and rot are assumed to have been assigned.
when the local angular acceleration is zero, it's still necessary to call SetAngAccLocal(VNULL) because q_dtdt may be nonzero due to nonzero q_dt in case of rotational motion.

◆ SetAngAccLocal()

template<class Real = double>

virtual void chrono::ChFrameMoving< Real >::SetAngAccLocal ( const ChVector3< Real > & a )

inlinevirtual

Set the rotation acceleration from given angular acceleration (expressed in local coordinates).

Note: even when the local angular acceleration is zero, this function should still be called because q_dtdt might be nonzero due to nonzero q_dt (in case of rotational motion).

◆ SetRotDt()

template<class Real = double>

virtual void chrono::ChFrameMoving< Real >::SetRotDt ( const ChQuaternion< Real > & q_dt )

inlinevirtual

Set the rotation velocity as a quaternion derivative.

Note: the quaternion must satisfy: dot(q,q_dt)=0.

◆ SetRotDt2()

template<class Real = double>

virtual void chrono::ChFrameMoving< Real >::SetRotDt2 ( const ChQuaternion< Real > & q_dtdt )

inlinevirtual

Set the rotation acceleration as a quaternion derivative.

Note: the quaternion must satisfy: dot(q,q_dtdt)+dot(q_dt,q_dt)=0.

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

/builds/uwsbel/chrono/src/chrono/core/ChFrameMoving.h

Description

template<class Real = double> class chrono::ChFrameMoving< Real >

Public Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ ConcatenatePostTransformation()

◆ ConcatenatePreTransformation()

◆ Invert()

◆ operator*()

◆ operator*=()

◆ operator>>()

◆ operator>>=()

◆ PointAccelerationLocalToParent()

◆ SetAngAccLocal()

◆ SetRotDt()

◆ SetRotDt2()

template<class Real = double>
class chrono::ChFrameMoving< Real >