chrono::utils::CompositeInertia Class Reference

Description

Utility class for calculating inertia properties of a composite body.

A composite body is a collection of sub-components, each specified through its mass, a centroidal frame, and its inertia tensor (w.r.t. the centroidal frame). New sub-components can be included in the composite body and optionally marked as "voids" (holes), by specifying:

• the mass of the sub-component
• a sub-component centroidal frame, relative to the composite reference frame; the location of this frame represents the sub-component COM location
• the sub-component inertia tensor w.r.t. its centroidal frame

#include <ChCompositeInertia.h>

Public Member Functions
double	GetMass () const
	Get the composite mass.
const ChVector3d &	GetCOM () const
	Get the location of the COM.
ChMatrix33	GetInertia () const
	Get the inertia tensor w.r.t. More...
const ChMatrix33 &	GetInertiaReference () const
	Get the inertia tensor w.r.t. the reference frame.
void	AddComponent (const ChFrame<> &frame, double mass, const ChMatrix33<> &inertia, bool is_void=false)
	Include sub-component inertia properties. More...

Static Public Member Functions
static ChMatrix33	InertiaShiftMatrix (const ChVector3d &v)
	Utility function for calculating an inertia shift matrix from a given vector. More...

Member Function Documentation

AddComponent()

void chrono::utils::CompositeInertia::AddComponent	(	const ChFrame<> &	frame,
		double	mass,
		const ChMatrix33<> &	inertia,
		bool	is_void = false
	)

Include sub-component inertia properties.

Update the inertia properties of the composite object with the specified mass and inertia of a sub-component. A sub-component is

Parameters

frame	centroidal frame of sub-component (relative to reference frame)
mass	mass of sub-component
inertia	sub-component inertia tensor w.r.t. its centroidal frame
is_void	indicate if sub-component represents a material void

GetInertia()

ChMatrix33 chrono::utils::CompositeInertia::GetInertia

(

)

const

Get the inertia tensor w.r.t.

a centroidal frame. The return 3x3 symmetric matrix represents the inertia tensor with respect to a centroidal frame of the composite, aligned with the axes of the reference frame.

InertiaShiftMatrix()

ChMatrix33 chrono::utils::CompositeInertia::InertiaShiftMatrix ( const ChVector3d &  v )

static

Utility function for calculating an inertia shift matrix from a given vector.

This matrix is used when applying the parallel axis theorem.

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

• /builds/uwsbel/chrono/src/chrono/utils/ChCompositeInertia.h
• /builds/uwsbel/chrono/src/chrono/utils/ChCompositeInertia.cpp