chrono::ChLinkForce Class Reference


Class for forces in link joints of type ChLinkLock.

Force is applied to specific degrees of freedom of the ChLinkLock through ChLinkLock::Force functions. The resulting force (or torque) is computed as the sum of actuator, spring force and a damping force. Each term consists of a constant part (set through SetActuatorForce, SetSpringCoefficient, SetDampingCoefficient) and an optional modulation part (set through SetActuatorModulation, SetSpringModulation, SetDamperModulation). The resulting actuation force, the spring and damping coefficient are given as the constant part multiplied by the value of the modulation function at the current time. The final force is obtained as the sum of all the contributions: F(x, x_dt, t) = F_act_const * F_act_modulation - K_const * K_modulation * x - R_const * R_modulation * x_dt

#include <ChLinkForce.h>

Public Member Functions

 ChLinkForce (const ChLinkForce &other)
ChLinkForceClone () const
 "Virtual" copy constructor (covariant return type).
bool IsActive () const
void SetActive (bool val)
double GetActuatorForceTorque () const
 Get the force or torque applied to the link.
void SetActuatorForceTorque (double F)
 Set the force or torque applied to the link.
double GetSpringCoefficient () const
void SetSpringCoefficient (double K)
double GetDampingCoefficient () const
void SetDampingCoefficient (double R)
std::shared_ptr< ChFunctionGetActuatorModulation () const
std::shared_ptr< ChFunctionGetSpringModulation () const
std::shared_ptr< ChFunctionGetDamperModulation () const
void SetActuatorModulation (std::shared_ptr< ChFunction > funct)
void SetSpringModulation (std::shared_ptr< ChFunction > funct)
void SetDamperModulation (std::shared_ptr< ChFunction > funct)
double GetCurrentActuatorForceTorque (double x, double x_dt, double t) const
double GetCurrentSpringCoefficient (double x, double x_dt, double t) const
double GetCurrentDampingCoefficient (double x, double x_dt, double t) const
double GetForceTorque (double x, double x_dt, double t) const
void ArchiveOut (ChArchiveOut &archive_out)
 Method to allow serialization of transient data to archives.
void ArchiveIn (ChArchiveIn &archive_in)
 Method to allow de-serialization of transient data from archives.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkForce.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkForce.cpp