chrono::ChLinkTSDA Class Reference

Description

Class for translational spring-damper-actuator (TSDA) with the force optionally specified through a functor object.

By default, models a linear TSDA. Optionally, a ChLinkTSDA can have internal dynamics, described by a system of ODEs. The internal states are integrated simultaneous with the containing system and they can be accessed and used in the force calculation. ChLinkTSDA provides optional support for computing Jacobians of the generalized forces.

#include <ChLinkTSDA.h>

Inheritance diagram for chrono::ChLinkTSDA:
Collaboration diagram for chrono::ChLinkTSDA:

Classes

class  ForceFunctor
 Class to be used as a callback interface for calculating the general spring-damper force. More...
 
class  ODE
 Class to be used as a callback interface for specifying the ODE, y' = f(t,y); y(0) = y0. More...
 

Public Member Functions

 ChLinkTSDA (const ChLinkTSDA &other)
 
virtual ChLinkTSDAClone () const override
 "Virtual" copy constructor (covariant return type).
 
void SetRestLength (double len)
 Set spring rest (free) length. More...
 
void SetSpringCoefficient (double k)
 Set spring coefficient (default: 0). More...
 
void SetDampingCoefficient (double r)
 Set damping coefficient (default: 0). More...
 
void SetActuatorForce (double f)
 Set constant actuation force (default: 0). More...
 
void IsStiff (bool val)
 Declare the forces generated by this spring as stiff (default: false). More...
 
const ChVectorDynamicGetStates () const
 Get current states.
 
double GetRestLength () const
 Get the spring rest (free) length.
 
double GetLength () const
 Get current length.
 
double GetDeformation () const
 Get current deformation.
 
double GetVelocity () const
 Get current length rate of change.
 
double GetForce () const
 Get current force (in the direction of the force element).
 
const ChVector3dGetPoint1Rel () const
 Get the endpoint location on 1st body (expressed in body 1 coordinate system)
 
const ChVector3dGetPoint1Abs () const
 Get the endpoint location on 1st body (expressed in absolute coordinate system)
 
const ChVector3dGetPoint2Rel () const
 Get the endpoint location on 2nd body (expressed in body 2 coordinate system)
 
const ChVector3dGetPoint2Abs () const
 Get the endpoint location on 1st body (expressed in absolute coordinate system)
 
virtual ChFrame GetFrame1Rel () const override
 Get the link frame 1, relative to body 1.
 
virtual ChFrame GetFrame2Rel () const override
 Get the link frame 2, relative to body 2.
 
double GetSpringCoefficient () const
 Get the value of the spring coefficient. More...
 
double GetDampingCoefficient () const
 Get the value of the damping coefficient. More...
 
double GetActuatorForce () const
 Get the constant acutation force. More...
 
void RegisterForceFunctor (std::shared_ptr< ForceFunctor > functor)
 Specify the functor object for calculating the force.
 
std::shared_ptr< ForceFunctorGetForceFunctor () const
 Return the functor object for calculating the force (may be empty).
 
void RegisterODE (ODE *functor)
 Specify the functor object for calculating the ODE right-hand side.
 
void Initialize (std::shared_ptr< ChBody > body1, std::shared_ptr< ChBody > body2, bool local, const ChVector3d &loc1, const ChVector3d &loc2)
 Initialize the spring, specifying the two bodies to be connected, the location of the two anchor points of each body (each expressed in body or absolute coordinates). 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::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () 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< ChVisualModelGetVisualModel () 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< ChVisualShapeGetVisualShape (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< ChVisualShapeFEAGetVisualShapeFEA (unsigned int i) const
 Access the specified FEA visualization object in the visualization model (if any). 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 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 () const
 Get the axis-aligned bounding box (AABB) of this object. More...
 
virtual ChVector3d GetCenter () const
 Get a symbolic 'center' of the object. More...
 
virtual void Setup ()
 Perform setup operations. More...
 
void UpdateVisualModel ()
 Utility function to update only the associated visual assets (if any).
 
virtual void ForceToRest ()
 Set zero speed (and zero accelerations) in state, without changing the position. 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 GetNumConstraintsBilateral ()
 Get the number of bilateral 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 IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
 From item's reaction forces to global reaction vector. More...
 
virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
 From global reaction vector to item's reaction forces. 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_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
 Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More...
 
virtual void IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
 Takes the term C, scale and adds to Qc at given offset: Qc += c*C. 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 InjectConstraints (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChConstraint objects associated with this item.
 
virtual void LoadConstraintJacobians ()
 Compute and load current Jacobians in encapsulated ChConstraint objects.
 
virtual void ConstraintsBiReset ()
 Sets to zero the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
 Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
 
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 ConstraintsFetch_react (double factor=1)
 Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...
 
- 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 ()
 

Friends

class ChSystemMulticore
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_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

◆ GetActuatorForce()

double chrono::ChLinkTSDA::GetActuatorForce ( ) const
inline

Get the constant acutation force.

Meaningful only if no force functor is provided.

◆ GetDampingCoefficient()

double chrono::ChLinkTSDA::GetDampingCoefficient ( ) const
inline

Get the value of the damping coefficient.

Meaningful only if no force functor is provided.

◆ GetSpringCoefficient()

double chrono::ChLinkTSDA::GetSpringCoefficient ( ) const
inline

Get the value of the spring coefficient.

Meaningful only if no force functor is provided.

◆ Initialize()

void chrono::ChLinkTSDA::Initialize ( std::shared_ptr< ChBody body1,
std::shared_ptr< ChBody body2,
bool  local,
const ChVector3d loc1,
const ChVector3d loc2 
)

Initialize the spring, specifying the two bodies to be connected, the location of the two anchor points of each body (each expressed in body or absolute coordinates).

Unless SetRestLength() is explicitly called, the TSDA rest length is calculated from the initial configuration.

Parameters
body1first body to link
body2second body to link
localif true, point locations are relative to bodies
loc1point on 1st body (rel. or abs., see flag above)
loc2point on 2nd body (rel. or abs., see flag above)

◆ IsStiff()

void chrono::ChLinkTSDA::IsStiff ( bool  val)
inline

Declare the forces generated by this spring as stiff (default: false).

If stiff, Jacobian information will be generated.

◆ SetActuatorForce()

void chrono::ChLinkTSDA::SetActuatorForce ( double  f)
inline

Set constant actuation force (default: 0).

Used only if no force functor is provided.

◆ SetDampingCoefficient()

void chrono::ChLinkTSDA::SetDampingCoefficient ( double  r)
inline

Set damping coefficient (default: 0).

Used only if no force functor is provided.

◆ SetRestLength()

void chrono::ChLinkTSDA::SetRestLength ( double  len)

Set spring rest (free) length.

By default, this is calculated from the initial configuration.

◆ SetSpringCoefficient()

void chrono::ChLinkTSDA::SetSpringCoefficient ( double  k)
inline

Set spring coefficient (default: 0).

Used only if no force functor is provided.


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