Description
Specialized class for representing a N-DOF item for a system, that is an item with mass matrix and associate variables.
The main difference from the base class ChVariables is that the base class does not create any mass matrix, while this minimal specialization at least creates a NxN mass matrix. Of course a generic (uncompressed) NxN matrix is used. This means that, for example, this class could be used for 3D rigid bodies if N=6, however it would be better to implement a more optimized class which does not create a full 6x6 matrix (since only few elements on the diagonal would be different from 0 in case of rigid bodies), so use the ChVariablesBody in this case..
#include <ChVariablesGeneric.h>
Public Member Functions | |
| ChVariablesGeneric (unsigned int dof=1) | |
| ChVariablesGeneric & | operator= (const ChVariablesGeneric &other) |
| Assignment operator: copy from other object. | |
| ChMatrixDynamic & | GetMass () |
| Access the inertia matrix. | |
| ChMatrixDynamic & | GetInvMass () |
| Access the inverted inertia matrix. | |
| virtual void | ComputeMassInverseTimesVector (ChVectorRef result, ChVectorConstRef vect) const override |
| Compute the product of the inverse mass matrix by a given vector and store in result. More... | |
| virtual void | AddMassTimesVector (ChVectorRef result, ChVectorConstRef vect) const override |
| Compute the product of the mass matrix by a given vector and increment result. More... | |
| virtual void | AddMassTimesVectorInto (ChVectorRef result, ChVectorConstRef vect, const double ca) const override |
| Add the product of the mass submatrix by a given vector, scaled by ca, to result. More... | |
| virtual void | AddMassDiagonalInto (ChVectorRef result, const double ca) const override |
| Add the diagonal of the mass matrix, as a vector scaled by ca, to result. More... | |
| virtual void | PasteMassInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col, const double ca) const override |
| Write the mass submatrix for these variables into the specified global matrix at the offsets of each variable. More... | |
 Public Member Functions inherited from chrono::ChVariables | |
| ChVariables (unsigned int dof) | |
| ChVariables & | operator= (const ChVariables &other) |
| Assignment operator: copy from other object. | |
| void | SetDisabled (bool mdis) |
| Deactivates/freezes the variable (these variables won't be modified by the system solver). | |
| bool | IsDisabled () const |
| Check if the variables have been deactivated (these variables won't be modified by the system solver). | |
| bool | IsActive () const |
| Check if these variables are currently active. More... | |
| unsigned int | GetDOF () const |
| The number of scalar variables in the vector qb (dof=degrees of freedom). | |
| ChVectorRef | State () |
| Get a reference to the differential states encapsulated by these variables. More... | |
| ChVectorRef | Force () |
| Get a reference to the generalized force corresponding to these variables. More... | |
| void | SetOffset (unsigned int moff) |
| Set offset in the global state vector. More... | |
| unsigned int | GetOffset () const |
| Get offset in the global state vector. | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::ChVariables | |
| unsigned int | offset |
| offset in global q state vector (needed by some solvers) | |
| unsigned int | ndof |
| number of degrees of freedom (number of contained scalar variables) | |
Member Function Documentation
◆ AddMassDiagonalInto()
|
overridevirtual |
Add the diagonal of the mass matrix, as a vector scaled by ca, to result.
Note: 'result' is a system-level vector of appropriate size. This function must index into this vector using the offsets of each variable.
Implements chrono::ChVariables.
◆ AddMassTimesVector()
|
overridevirtual |
Compute the product of the mass matrix by a given vector and increment result.
This function must perform the operation result += M * vect for a vector of same size as the variables state.
Implements chrono::ChVariables.
◆ AddMassTimesVectorInto()
|
overridevirtual |
Add the product of the mass submatrix by a given vector, scaled by ca, to result.
Note: 'result' and 'vect' are system-level vectors of appropriate size. This function must index into these vectors using the offsets of each variable.
Implements chrono::ChVariables.
◆ ComputeMassInverseTimesVector()
|
overridevirtual |
Compute the product of the inverse mass matrix by a given vector and store in result.
This function must calculate result = M^(-1) * vect for a vector of same size as the variables state.
Implements chrono::ChVariables.
◆ PasteMassInto()
|
overridevirtual |
Write the mass submatrix for these variables into the specified global matrix at the offsets of each variable.
The masses will be scaled by the given factor 'ca'. The (start_row, start_col) pair specifies the top-left corner of the system-level mass matrix in the provided matrix. Assembling the system-level sparse matrix is required only if using a direct sparse solver or for debugging/reporting purposes.
Implements chrono::ChVariables.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/solver/ChVariablesGeneric.h
- /builds/uwsbel/chrono/src/chrono/solver/ChVariablesGeneric.cpp
