Description

Interface base class for scalar->vector functions.

p = f(s)

where p is a 3D vector (ex. a position) and s is a scalar (ex. time) Inherited classes must override at least the GetPos() method.

#include <ChFunctionPosition.h>

Inheritance diagram for chrono::ChFunctionPosition:

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Public Member Functions
	ChFunctionPosition (const ChFunctionPosition &other)

virtual ChFunctionPosition *	Clone () const =0
	"Virtual" copy constructor.

virtual ChVector3d	GetPos (double s) const =0
	Return the value of the function, at s.

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

virtual ChVector3d	GetLinAcc (double s) const
	Return the linear acceleration imposed by the function. More...

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

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

virtual void	ArchiveIn (ChArchiveIn &archive_in)
	Method to allow de-serialization of transient data from archives.

Member Function Documentation

◆ GetLinAcc()

ChVector3d chrono::ChFunctionPosition::GetLinAcc ( double s ) const

virtual

Return the linear acceleration imposed by the function.

Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).

Reimplemented in chrono::ChFunctionPositionSetpoint, chrono::ChFunctionPositionLine, and chrono::ChFunctionPositionXYZFunctions.

◆ GetLinVel()

ChVector3d chrono::ChFunctionPosition::GetLinVel ( double s ) const