chrono::ChLoadBodyBodyTorque Class Reference
Description
Load representing a torque applied between two bodies.
The magnitude of the applied torque can be optionally modulated by a function of time. The default modulation is the constant function with value 1.
#include <ChLoadsBody.h>
Inheritance diagram for chrono::ChLoadBodyBodyTorque:
Collaboration diagram for chrono::ChLoadBodyBodyTorque:
Public Member Functions | |
| ChLoadBodyBodyTorque (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChVector3d torque, bool local_torque) | |
| virtual ChLoadBodyBodyTorque * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| void | SetModulationFunction (std::shared_ptr< ChFunction > modulation) |
| Set modulation function. More... | |
 Public Member Functions inherited from chrono::ChLoadBodyBody | |
| ChLoadBodyBody (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application) | |
| ChVector3d | GetForce () const |
| For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to body B. | |
| ChVector3d | GetTorque () const |
| For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in coordinate system of loc_application_B, assumed applied to body B. | |
| void | SetApplicationFrameA (const ChFrame<> &mpA) |
| Set the application frame of bushing on bodyA. | |
| ChFrame | GetApplicationFrameA () const |
| void | SetApplicationFrameB (const ChFrame<> &mpB) |
| Set the application frame of bushing on bodyB. | |
| ChFrame | GetApplicationFrameB () const |
| ChFrameMoving | GetAbsoluteFrameA () const |
| Get absolute coordinate of frame A (last computed) | |
| ChFrameMoving | GetAbsoluteFrameB () const |
| Get absolute coordinate of frame B (last computed) | |
| std::shared_ptr< ChBody > | GetBodyA () const |
| std::shared_ptr< ChBody > | GetBodyB () const |
| Public Member Functions inherited from chrono::ChLoadCustomMultiple | |
| ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &loadable_objects) | |
| ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB) | |
| ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC) | |
| virtual int | LoadGetNumCoordsPosLevel () override |
| Gets the number of DOFs affected by this load (position part). | |
| virtual int | LoadGetNumCoordsVelLevel () override |
| Gets the number of DOFs affected by this load (speed part). | |
| virtual void | LoadGetStateBlock_x (ChState &mD) override |
| Gets all the current DOFs packed in a single vector (position part). | |
| virtual void | LoadGetStateBlock_w (ChStateDelta &mD) override |
| Gets all the current DOFs packed in a single vector (speed part). | |
| virtual void | LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
| Increment a packed state (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More... | |
| virtual int | LoadGetNumFieldCoords () override |
| Number of coordinates in the interpolated field. More... | |
| virtual void | ComputeJacobian (ChState *state_x, ChStateDelta *state_w) override |
| Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More... | |
| virtual void | LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override |
| Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More... | |
| virtual void | LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override |
| Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More... | |
| virtual void | LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override |
| Add the lumped mass to an Md vector, representing a mass diagonal matrix. More... | |
| virtual void | CreateJacobianMatrices () override |
| Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block. | |
| virtual ChVectorDynamic & | GetQ () |
| Access the generalized load vector Q. | |
| Public Member Functions inherited from chrono::ChLoadBase | |
| ChLoadJacobians * | GetJacobians () |
| Access the Jacobians (if any, i.e. if this is a stiff load). | |
| virtual void | InjectKRMMatrices (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChKRMBlock objects associated with this item. | |
| virtual void | LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) |
| Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. 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 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. | |
| virtual std::string & | ArchiveContainerName () |
Additional Inherited Members | |
| Public Attributes inherited from chrono::ChLoadCustomMultiple | |
| std::vector< std::shared_ptr< ChLoadable > > | loadables |
| ChVectorDynamic | load_Q |
| Protected Member Functions inherited from chrono::ChLoadBodyBody | |
| virtual void | ComputeQ (ChState *state_x, ChStateDelta *state_w) override |
| Compute the generalized load(s). More... | |
| Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
| Protected Attributes inherited from chrono::ChLoadBodyBody | |
| ChFrame | loc_application_A |
| application point on body A (local) | |
| ChFrame | loc_application_B |
| application point on body B (local) | |
| ChVector3d | locB_force |
| store computed values here | |
| ChVector3d | locB_torque |
| store computed values here | |
| ChFrameMoving | frame_Aw |
| for results | |
| ChFrameMoving | frame_Bw |
| for results | |
| Protected Attributes inherited from chrono::ChLoadBase | |
| ChLoadJacobians * | m_jacobians |
| 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 | |
Constructor & Destructor Documentation
◆ ChLoadBodyBodyTorque()
| chrono::ChLoadBodyBodyTorque::ChLoadBodyBodyTorque | ( | std::shared_ptr< ChBody > | bodyA, |
| std::shared_ptr< ChBody > | bodyB, | ||
| const ChVector3d | torque, | ||
| bool | local_torque | ||
| ) |
- Parameters
-
bodyA first body bodyB second body torque applied torque local_torque torque is in bodyB local coords
Member Function Documentation
◆ SetModulationFunction()
|
inline |
Set modulation function.
This is a function of time which (optionally) modulates the specified applied torque. By default the modulation is a constant function, always returning a value of 1.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.h
- /builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.cpp
