chrono::ChLoadBodyTorque Class Reference


Load representing a torque applied to a rigid body.

Torque direction does not rotate with the body. 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::ChLoadBodyTorque:
Collaboration diagram for chrono::ChLoadBodyTorque:

Public Member Functions

 ChLoadBodyTorque (std::shared_ptr< ChBody > body, const ChVector3d &torque, bool local_torque)
virtual ChLoadBodyTorqueClone () const override
 "Virtual" copy constructor (covariant return type).
void SetTorque (const ChVector3d &torque, bool is_local)
 Set the constant torque vector. More...
ChVector3d GetTorque () const
 Return the current torque vector (scaled by the current modulation value).
void SetModulationFunction (std::shared_ptr< ChFunction > modulation)
 Set modulation function. More...
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute the generalized load(s). More...
- Public Member Functions inherited from chrono::ChLoadCustom
 ChLoadCustom (std::shared_ptr< ChLoadable > loadable_object)
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 ChVectorDynamicGetQ ()
 Access the generalized load vector Q.
- Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobiansGetJacobians ()
 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::ChLoadCustom
std::shared_ptr< ChLoadableloadable
ChVectorDynamic load_Q
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
- Protected Attributes inherited from chrono::ChLoadBase
- 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

◆ ChLoadBodyTorque()

chrono::ChLoadBodyTorque::ChLoadBodyTorque ( std::shared_ptr< ChBody body,
const ChVector3d torque,
bool  local_torque 
bodyobject to apply load to
torquetorque to apply
local_torquetorque is in body local coords

Member Function Documentation

◆ ComputeQ()

void chrono::ChLoadBodyTorque::ComputeQ ( ChState state_x,
ChStateDelta state_w 

Compute the generalized load(s).

state_xstate position to evaluate Q
state_wstate speed to evaluate Q

Implements chrono::ChLoadBase.

◆ SetModulationFunction()

void chrono::ChLoadBodyTorque::SetModulationFunction ( std::shared_ptr< ChFunction modulation)

Set modulation function.

This is a function of time which (optionally) modulates the specified applied force. By default the modulation is a constant function, always returning a value of 1.

◆ SetTorque()

void chrono::ChLoadBodyTorque::SetTorque ( const ChVector3d torque,
bool  is_local 

Set the constant torque vector.

This value is optionally modulated by a function of time.

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