Description

A rotation function q=f(s) where q(s) is defined with axis V and angle alpha, assuming fixed axis of rotation V and a angle of rotation alpha about that axis, expressed with a ChFunction object alpha=alpha(s).

By default, the axis is the Z axis, and rotation is constant zero rotation.

#include <ChFunctionRotationAxis.h>

Inheritance diagram for chrono::ChFunctionRotationAxis:

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Collaboration diagram for chrono::ChFunctionRotationAxis:

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Public Member Functions
	ChFunctionRotationAxis (const ChFunctionRotationAxis &other)

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

void	SetFunctionAngle (std::shared_ptr< ChFunction > mx)
	Set the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians.

std::shared_ptr< ChFunction >	GetFunctionAngle ()
	Get the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians.

void	SetAxis (const ChVector3d &mv)
	Set the fixed axis of rotation. It must be unit length. Default Z vector.

ChVector3d	GetAxis ()
	Get the fixed axis of rotation.

virtual ChQuaternion	GetQuat (double s) const override
	Return the rotation as a quaternion, function of s, as q=f(s).

virtual ChVector3d	GetAngVel (double s) const override
	Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame.

virtual ChVector3d	GetAngAcc (double s) const override
	Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame.

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::ChFunctionRotation
	ChFunctionRotation (const ChFunctionRotation &other)

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

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

/builds/uwsbel/chrono/src/chrono/functions/ChFunctionRotationAxis.h
/builds/uwsbel/chrono/src/chrono/functions/ChFunctionRotationAxis.cpp

Description

Public Member Functions