chrono::ChParticleBase Class Referenceabstract

Description

Base class for a single particle to be used in ChIndexedParticles containers.

It is an item that has 6 degrees of freedom, like a moving frame.

#include <ChIndexedParticles.h>

Inheritance diagram for chrono::ChParticleBase:
Collaboration diagram for chrono::ChParticleBase:

Public Member Functions

 ChParticleBase (const ChParticleBase &other)
 
ChParticleBaseoperator= (const ChParticleBase &other)
 
virtual ChVariablesVariables ()=0
 
- Public Member Functions inherited from chrono::ChFrameMoving< double >
 ChFrameMoving ()
 Default constructor (identity frame).
 
 ChFrameMoving (const ChVector3< double > &v, const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
 Construct from pos and rot (as a quaternion).
 
 ChFrameMoving (const ChVector3< double > &v, const ChMatrix33< double > &R)
 Construct from pos and rotation (as a 3x3 matrix).
 
 ChFrameMoving (const ChCoordsys< double > &C)
 Construct from a coordsys.
 
 ChFrameMoving (const ChFrame< double > &F)
 Construct from a frame.
 
 ChFrameMoving (const ChFrameMoving< double > &other)
 Copy constructor, build from another moving frame.
 
virtual ~ChFrameMoving ()
 Destructor.
 
ChFrameMoving< double > & operator= (const ChFrameMoving< double > &other)
 Assignment operator: copy from another moving frame.
 
ChFrameMoving< double > & operator= (const ChFrame< double > &other)
 Assignment operator: copy from another frame.
 
bool operator== (const ChFrameMoving< double > &other) const
 Returns true for identical frames.
 
bool operator!= (const ChFrameMoving< double > &other) const
 Returns true for different frames.
 
ChFrameMoving< double > operator>> (const ChFrameMoving< double > &F) const
 Transform another frame through this frame. More...
 
ChFrameMoving< double > operator* (const ChFrameMoving< double > &F) const
 Transform another frame through this frame. More...
 
ChFrameMoving< double > & operator>>= (const ChFrameMoving< double > &F)
 Transform this frame by pre-multiplication with another frame. More...
 
ChFrameMoving< double > & operator>>= (const ChVector3< double > &v)
 Transform this frame by pre-multiplication with a given vector (translate frame).
 
ChFrameMoving< double > & operator>>= (const ChQuaternion< double > &q)
 Transform this frame by pre-multiplication with a given quaternion (rotate frame).
 
ChFrameMoving< double > & operator>>= (const ChCoordsys< double > &C)
 Transform this frame by pre-multiplication with a given coordinate system.
 
ChFrameMoving< double > & operator>>= (const ChFrame< double > &F)
 Transform this frame by pre-multiplication with another frame.
 
ChFrameMoving< double > & operator*= (const ChFrameMoving< double > &F)
 Transform this frame by post-multiplication with another frame. More...
 
const ChCoordsys< double > & GetCoordsysDt () const
 Return both rotation and translation velocities as a ChCoordsys object.
 
const ChCoordsys< double > & GetCoordsysDt2 () const
 Return both rotation and translation accelerations as a ChCoordsys object.
 
const ChVector3< double > & GetPosDt () const
 Return the linear velocity.
 
const ChVector3< double > & GetLinVel () const
 Return the linear velocity.
 
const ChVector3< double > & GetPosDt2 () const
 Return the linear acceleration.
 
const ChVector3< double > & GetLinAcc () const
 Return the linear acceleration.
 
const ChQuaternion< double > & GetRotDt () const
 Return the rotation velocity as a quaternion.
 
const ChQuaternion< double > & GetRotDt2 () const
 Return the rotation acceleration as a quaternion.
 
ChVector3< double > GetAngVelLocal () const
 Compute the angular velocity (expressed in local coords).
 
ChVector3< double > GetAngVelParent () const
 Compute the actual angular velocity (expressed in parent coords).
 
ChVector3< double > GetAngAccLocal () const
 Compute the actual angular acceleration (expressed in local coords).
 
ChVector3< double > GetAngAccParent () const
 Compute the actual angular acceleration (expressed in parent coords).
 
virtual void SetCoordsysDt (const ChCoordsys< double > &csys_dt)
 Set both linear and rotation velocities as a single ChCoordsys derivative.
 
virtual void SetPosDt (const ChVector3< double > &vel)
 Set the linear velocity.
 
virtual void SetLinVel (const ChVector3< double > &vel)
 Set the linear velocity.
 
virtual void SetRotDt (const ChQuaternion< double > &q_dt)
 Set the rotation velocity as a quaternion derivative. More...
 
virtual void SetAngVelLocal (const ChVector3< double > &w)
 Set the rotation velocity from the given angular velocity (expressed in local coordinates).
 
virtual void SetAngVelParent (const ChVector3< double > &w)
 Set the rotation velocity from given angular velocity (expressed in parent coordinates).
 
virtual void SetCoordsysDt2 (const ChCoordsys< double > &csys_dtdt)
 Set the linear and rotation accelerations as a single ChCoordsys derivative.
 
virtual void SetPosDt2 (const ChVector3< double > &acc)
 Set the linear acceleration.
 
virtual void SetLinAcc (const ChVector3< double > &acc)
 Set the linear acceleration.
 
virtual void SetRotDt2 (const ChQuaternion< double > &q_dtdt)
 Set the rotation acceleration as a quaternion derivative. More...
 
virtual void SetAngAccLocal (const ChVector3< double > &a)
 Set the rotation acceleration from given angular acceleration (expressed in local coordinates). More...
 
virtual void SetAngAccParent (const ChVector3< double > &a)
 Set the rotation acceleration from given angular acceleration (expressed in parent coordinates).
 
void ComputeRotMatDt (ChMatrix33< double > &R_dt) const
 Compute the time derivative of the rotation matrix.
 
void ComputeRotMatDt2 (ChMatrix33< double > &R_dtdt)
 Compute the second time derivative of the rotation matrix.
 
ChMatrix33< double > GetRotMatDt ()
 Return the time derivative of the rotation matrix.
 
ChMatrix33< double > GetRotMatDt2 ()
 Return the second time derivative of the rotation matrix.
 
void ConcatenatePreTransformation (const ChFrameMoving< double > &F)
 Apply a transformation (rotation and translation) represented by another frame. More...
 
void ConcatenatePostTransformation (const ChFrameMoving< double > &F)
 Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...
 
ChVector3< double > PointSpeedLocalToParent (const ChVector3< double > &localpos) const
 Return the velocity in the parent frame of a point fixed to this frame and expressed in local coordinates.
 
ChVector3< double > PointSpeedLocalToParent (const ChVector3< double > &localpos, const ChVector3< double > &localspeed) const
 Return the velocity in the parent frame of a moving point, given the point location and velocity expressed in local coordinates.
 
ChVector3< double > PointAccelerationLocalToParent (const ChVector3< double > &localpos) const
 Return the acceleration in the parent frame of a point fixed to this frame and expressed in local coordinates. More...
 
ChVector3< double > PointAccelerationLocalToParent (const ChVector3< double > &localpos, const ChVector3< double > &localspeed, const ChVector3< double > &localacc) const
 Return the acceleration in the parent frame of a moving point, given the point location, velocity, and acceleration expressed in local coordinates.
 
ChVector3< double > PointSpeedParentToLocal (const ChVector3< double > &parentpos, const ChVector3< double > &parentspeed) const
 Return the velocity of a point expressed in this frame, given the point location and velocity in the parent frame.
 
ChVector3< double > PointAccelerationParentToLocal (const ChVector3< double > &parentpos, const ChVector3< double > &parentspeed, const ChVector3< double > &parentacc) const
 Return the acceleration of a point expressed in this frame, given the point location, velocity, and acceleration in the parent frame.
 
ChFrameMoving< double > TransformLocalToParent (const ChFrameMoving< double > &F) const
 Transform a moving frame from 'this' local coordinate system to parent frame coordinate system.
 
ChFrameMoving< double > TransformParentToLocal (const ChFrameMoving< double > &F) const
 Transform a moving frame from the parent coordinate system to 'this' local frame coordinate system.
 
bool Equals (const ChFrameMoving< double > &other) const
 Returns true if this transform is identical to the other transform.
 
bool Equals (const ChFrameMoving< double > &other, double tol) const
 Returns true if this transform is equal to the other transform, within a tolerance 'tol'.
 
virtual void Invert () override
 Invert in place. More...
 
ChFrameMoving< double > GetInverse () const
 Return the inverse transform.
 
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 de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChFrame< double >
 ChFrame ()
 Default constructor (identity frame).
 
 ChFrame (const ChVector3< double > &v, const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
 Construct from position and rotation (as quaternion).
 
 ChFrame (const ChVector3< double > &v, const ChMatrix33< double > &R)
 Construct from pos and rotation (as a 3x3 matrix).
 
 ChFrame (const ChVector3< double > &v, const double angle, const ChVector3< double > &u)
 Construct from position mv and rotation of angle alpha around unit vector mu.
 
 ChFrame (const ChCoordsys< double > &C)
 Construct from a coordsys.
 
 ChFrame (const ChFrame< double > &other)
 Copy constructor, build from another frame.
 
ChFrame< double > & operator= (const ChFrame< double > &other)
 Assignment operator: copy from another frame.
 
bool operator== (const ChFrame< double > &other) const
 Returns true for identical frames.
 
bool operator!= (const ChFrame< double > &other) const
 Returns true for different frames.
 
ChFrame< double > operator* (const ChFrame< double > &F) const
 Transform another frame through this frame. More...
 
ChVector3< double > operator* (const ChVector3< double > &v) const
 Transform a vector through this frame (express in parent frame). More...
 
ChFrame< double > operator>> (const ChFrame< double > &F) const
 Transform another frame through this frame. More...
 
ChVector3< double > operator/ (const ChVector3< double > &v) const
 Transform a vector through this frame (express from parent frame). More...
 
ChFrame< double > & operator>>= (const ChFrame< double > &F)
 Transform this frame by pre-multiplication with another frame. More...
 
ChFrame< double > & operator>>= (const ChVector3< double > &v)
 Transform this frame by pre-multiplication with a given vector (translate frame).
 
ChFrame< double > & operator>>= (const ChQuaternion< double > &q)
 Transform this frame by pre-multiplication with a given quaternion (rotate frame).
 
ChFrame< double > & operator>>= (const ChCoordsys< double > &C)
 Transform this frame by pre-multiplication with a given coordinate system.
 
ChFrame< double > & operator*= (const ChFrame< double > &F)
 Transform this frame by post-multiplication with another frame. More...
 
const ChCoordsys< double > & GetCoordsys () const
 Return both current rotation and translation as a ChCoordsys object.
 
const ChVector3< double > & GetPos () const
 Return the current translation vector.
 
const ChQuaternion< double > & GetRot () const
 Return the current rotation quaternion.
 
const ChMatrix33< double > & GetRotMat () const
 Return the current 3x3 rotation matrix.
 
ChVector3< double > GetRotAxis () const
 Get axis of finite rotation, in parent space.
 
double GetRotAngle () const
 Get angle of rotation about axis of finite rotation.
 
void SetCoordsys (const ChCoordsys< double > &C)
 Impose both translation and rotation as a single ChCoordsys. More...
 
void SetCoordsys (const ChVector3< double > &v, const ChQuaternion< double > &q)
 Impose both translation and rotation. More...
 
void SetRot (const ChQuaternion< double > &q)
 Impose the rotation as a quaternion. More...
 
void SetRot (const ChMatrix33< double > &R)
 Impose the rotation as a 3x3 matrix. More...
 
void SetPos (const ChVector3< double > &pos)
 Impose the translation vector.
 
void ConcatenatePreTransformation (const ChFrame< double > &F)
 Apply a transformation (rotation and translation) represented by another frame. More...
 
void ConcatenatePostTransformation (const ChFrame< double > &F)
 Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...
 
void Move (const ChVector3< double > &v)
 An easy way to move the frame by the amount specified by vector v, (assuming v expressed in parent coordinates)
 
void Move (const ChCoordsys< double > &C)
 Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.
 
ChVector3< double > TransformPointLocalToParent (const ChVector3< double > &v) const
 Transform a point from the local frame coordinate system to the parent coordinate system.
 
ChVector3< double > TransformPointParentToLocal (const ChVector3< double > &v) const
 Transforms a point from the parent coordinate system to local frame coordinate system.
 
ChVector3< double > TransformDirectionLocalToParent (const ChVector3< double > &d) const
 Transform a direction from the parent frame coordinate system to 'this' local coordinate system.
 
ChVector3< double > TransformDirectionParentToLocal (const ChVector3< double > &d) const
 Transforms a direction from 'this' local coordinate system to parent frame coordinate system.
 
ChWrench< double > TransformWrenchLocalToParent (const ChWrench< double > &w) const
 Transform a wrench from the local coordinate system to the parent coordinate system.
 
ChWrench< double > TransformWrenchParentToLocal (const ChWrench< double > &w) const
 Transform a wrench from the parent coordinate system to the local coordinate system.
 
ChFrame< double > TransformLocalToParent (const ChFrame< double > &F) const
 Transform a frame from 'this' local coordinate system to parent frame coordinate system.
 
ChFrame< double > TransformParentToLocal (const ChFrame< double > &F) const
 Transform a frame from the parent coordinate system to 'this' local frame coordinate system.
 
bool Equals (const ChFrame< double > &other) const
 Returns true if this transform is identical to the other transform.
 
bool Equals (const ChFrame< double > &other, double tol) const
 Returns true if this transform is equal to the other transform, within a tolerance 'tol'.
 
void Normalize ()
 Normalize the rotation, so that quaternion has unit length.
 
virtual void SetIdentity ()
 Sets to no translation and no rotation.
 
ChFrame< double > GetInverse () const
 Return the inverse transform.
 

Additional Inherited Members

- Protected Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double > m_csys_dt
 rotation and position velocity, as vector + quaternion
 
ChCoordsys< double > m_csys_dtdt
 rotation and position acceleration, as vector + quaternion
 
- Protected Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double > m_csys
 position and rotation, as vector + quaternion
 
ChMatrix33< double > m_rmat
 3x3 orthogonal rotation matrix
 

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