Description

Base class for loads representing a concentrated force acting between two ChNodeXYZ.

Users should inherit from this and implement a custom ComputeForce(). Note: some predefined examples are provided, such as ChLoadNodeXYZNodeXYZSpring ChLoadNodeXYZNodeXYZBushing.

#include <ChLoadsNodeXYZ.h>

Inheritance diagram for chrono::ChLoadNodeXYZNodeXYZ:

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Collaboration diagram for chrono::ChLoadNodeXYZNodeXYZ:

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Public Member Functions
	ChLoadNodeXYZNodeXYZ (std::shared_ptr< ChNodeXYZ > nodeA, std::shared_ptr< ChNodeXYZ > nodeB)

virtual void	ComputeForce (const ChVector3d &rel_pos, const ChVector3d &rel_vel, ChVector3d &abs_force)=0
	Compute the force on the nodeA, in absolute coordsystem, given relative position of nodeA with respect to B.

virtual void	ComputeQ (ChState state_x, ChStateDelta state_w) override
	Compute Q, the generalized load. More...

ChVector3d	GetForce () const
	Return the last computed value of the applied force. More...

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)

virtual ChObj *	Clone () const =0
	"Virtual" copy constructor.

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.

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () 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< ChVisualShape >	GetVisualShape (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< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this object. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a camera to this object. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this object.

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

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 ()

Protected Member Functions
virtual bool	IsStiff () override
	Report if this is load is stiff. More...

virtual void	Update (double time, bool update_assets) override
	Update, called at least at each time step. More...

Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes
ChVector3d	computed_abs_force

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

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

Additional Inherited Members
Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > >	loadables

ChVectorDynamic	load_Q

Constructor & Destructor Documentation

◆ ChLoadNodeXYZNodeXYZ()

chrono::ChLoadNodeXYZNodeXYZ::ChLoadNodeXYZNodeXYZ	(	std::shared_ptr< ChNodeXYZ >	nodeA,
		std::shared_ptr< ChNodeXYZ >	nodeB
	)

Parameters

nodeA	node A to apply load to
nodeB	node B to apply load to, as reaction

Member Function Documentation

◆ ComputeQ()

void chrono::ChLoadNodeXYZNodeXYZ::ComputeQ	(	ChState *	state_x,
		ChStateDelta *	state_w
	)

overridevirtual

Compute Q, the generalized load.

Called automatically at each Update().

Parameters

state_x	state position to evaluate Q
state_w	state speed to evaluate Q

Implements chrono::ChLoadBase.

◆ GetForce()

ChVector3d chrono::ChLoadNodeXYZNodeXYZ::GetForce ( ) const

inline

Return the last computed value of the applied force.

Used primarily for diagnostics, this function returns the force on the node expressed in absolute coordinates.

◆ IsStiff()

virtual bool chrono::ChLoadNodeXYZNodeXYZ::IsStiff ( )

inlineoverrideprotectedvirtual

Report if this is load is stiff.

If so, InjectKRMMatrices will provide the Jacobians of the load.

Implements chrono::ChLoadBase.

Reimplemented in chrono::ChLoadNodeXYZNodeXYZBushing, and chrono::ChLoadNodeXYZNodeXYZSpring.

◆ Update()

void chrono::ChLoadNodeXYZNodeXYZ::Update	(	double	time,
		bool	update_assets
	)

overrideprotectedvirtual

Update, called at least at each time step.

It recomputes the generalized load Q vector(s)
It recomputes the Jacobian matrices K,R,M in case of stiff load Q and Jacobians assumed evaluated at the current state. Jacobians are automatically allocated if needed.

Reimplemented from chrono::ChLoadBase.

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

/builds/uwsbel/chrono/src/chrono/physics/ChLoadsNodeXYZ.h
/builds/uwsbel/chrono/src/chrono/physics/ChLoadsNodeXYZ.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes