chrono::ChConstraintRollingTangential Class Reference
Description
Rolling friction constraint between two objects, each represented by a tuple of ChVariables objects.
This constraint cannot be used alone, but only together with a ChConstraintRollingNormal.
#include <ChConstraintRollingTangential.h>
Inheritance diagram for chrono::ChConstraintRollingTangential:
Collaboration diagram for chrono::ChConstraintRollingTangential:
Public Member Functions | |
| ChConstraintRollingTangential (const ChConstraintRollingTangential &other) | |
| virtual ChConstraintRollingTangential * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| ChConstraintRollingTangential & | operator= (const ChConstraintRollingTangential &other) |
| Assignment operator. | |
| virtual bool | IsLinear () const override |
| Indicate whether or not this constraint is linear. | |
| virtual double | Violation (double mc_i) override |
| The constraint is satisfied? | |
 Public Member Functions inherited from chrono::ChConstraintTwoTuples | |
| ChConstraintTwoTuples (const ChConstraintTwoTuples &other) | |
| ChConstraintTwoTuples & | operator= (const ChConstraintTwoTuples &other) |
| Assignment operator: copy from other object. | |
| ChConstraintTuple * | TupleA () |
| Access tuple a. | |
| ChConstraintTuple * | TupleB () |
| Access tuple b. | |
| void | SetTuples (ChConstraintTuple *tupleA, ChConstraintTuple *tupleB) |
| Set the two tuples. | |
| void | SetTuplesFromContactables (ChContactable *objA, ChContactable *objB) |
| Set the two tuples from two contactable objects. | |
| virtual void | UpdateAuxiliary () override |
| This function updates the following auxiliary data: More... | |
| virtual double | ComputeJacobianTimesState () override |
| Compute the product between the Jacobian of this constraint, [Cq_i], and the vector of variables. More... | |
| virtual void | IncrementState (double deltal) override |
| Increment the vector of variables with the quantity [invM]*[Cq_i]'*deltal. More... | |
| virtual void | AddJacobianTimesVectorInto (double &result, ChVectorConstRef vect) const override |
| Add the product of the corresponding block in the system matrix by 'vect' and add to result. More... | |
| virtual void | AddJacobianTransposedTimesScalarInto (ChVectorRef result, double l) const override |
| Add the product of the corresponding transposed block in the system matrix by 'l' and add to result. More... | |
| virtual void | PasteJacobianInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const override |
| Write the constraint Jacobian into the specified global matrix at the offsets of the associated variables. More... | |
| virtual void | PasteJacobianTransposedInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const override |
| Write the transposed constraint Jacobian into the specified global matrix at the offsets of the associated variables. More... | |
| Public Member Functions inherited from chrono::ChConstraint | |
| ChConstraint (const ChConstraint &other) | |
| ChConstraint & | operator= (const ChConstraint &other) |
| Assignment operator: copy from other object. | |
| bool | operator== (const ChConstraint &other) const |
| Comparison (compares only flags, not the Jacobians). | |
| bool | IsValid () const |
| Indicate if the constraint data is currently valid. | |
| void | SetValid (bool mon) |
| Set the "valid" state of this constraint. | |
| bool | IsDisabled () const |
| Indicate if the constraint is currently turned on or off. | |
| void | SetDisabled (bool mon) |
| bool | IsRedundant () const |
| Indicate if the constraint is redundant or singular. | |
| void | SetRedundant (bool mon) |
| Mark the constraint as redundant. | |
| bool | IsBroken () const |
| Indicate if the constraint is broken, due to excess pulling/pushing. | |
| void | SetBroken (bool mon) |
| Set the constraint as broken. More... | |
| virtual bool | IsUnilateral () const |
| Indicate if the constraint is unilateral (typical complementarity constraint). | |
| Mode | GetMode () const |
| Get the mode of the constraint. More... | |
| void | SetMode (Mode mmode) |
| Set the mode of the constraint. | |
| bool | IsActive () const |
| Indicate whether the constraint is currently active. More... | |
| void | SetActive (bool isactive) |
| Set the status of the constraint to active. | |
| virtual double | ComputeResidual () |
| Compute the residual of the constraint using the linear expression. More... | |
| double | GetResidual () const |
| Return the residual of this constraint. | |
| void | SetRightHandSide (const double mb) |
| Sets the known term b_i in [Cq_i]*q + b_i = 0, where: c_i = [Cq_i]*q + b_i = 0. | |
| double | GetRightHandSide () const |
| Return the known term b_i in [Cq_i]*q + b_i = 0, where: c_i= [Cq_i]*q + b_i = 0. | |
| void | SetComplianceTerm (const double mcfm) |
| Set the constraint force mixing term (default=0). More... | |
| double | GetComplianceTerm () const |
| Return the constraint force mixing term. | |
| void | SetLagrangeMultiplier (double ml_i) |
| Set the value of the corresponding Lagrange multiplier (constraint reaction). | |
| double | GetLagrangeMultiplier () const |
| Return the corresponding Lagrange multiplier (constraint reaction). | |
| double | GetSchurComplement () const |
| Return the 'g_i' product, that is [Cq_i]*[invM_i]*[Cq_i]' (+cfm) | |
| void | SetSchurComplement (double m_g_i) |
| Usually you should not use the SetSchurComplement function, because g_i should be automatically computed during the UpdateAuxiliary() . | |
| virtual void | Project () |
| Project the value of a possible 'l_i' value of constraint reaction onto admissible orthant/set. More... | |
| void | SetOffset (unsigned int off) |
| Set offset in global q vector (set automatically by ChSystemDescriptor) | |
| unsigned int | GetOffset () const |
| Get offset in global q vector. | |
| 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. | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChConstraint | |
| enum | Mode { Mode::FREE, Mode::LOCK, Mode::UNILATERAL, Mode::FRICTION } |
| Constraint mode. More... | |
| Protected Attributes inherited from chrono::ChConstraintTwoTuples | |
| ChConstraintTuple * | tuple_a |
| ChConstraintTuple * | tuple_b |
| Protected Attributes inherited from chrono::ChConstraint | |
| double | c_i |
| constraint residual (if satisfied, c must be 0) | |
| double | l_i |
| Lagrange multiplier (reaction) | |
| double | b_i |
| right-hand side term in [Cq_i]*q+b_i=0 , note: c_i= [Cq_i]*q + b_i | |
| double | cfm_i |
| Constraint force mixing if needed to add some numerical 'compliance' in the constraint. More... | |
| Mode | mode |
| mode of the constraint | |
| double | g_i |
| product [Cq_i]*[invM_i]*[Cq_i]' (+cfm) | |
| unsigned int | offset |
| offset in global "l" state vector (needed by some solvers) | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/solver/ChConstraintRollingTangential.h
- /builds/uwsbel/chrono/src/chrono/solver/ChConstraintRollingTangential.cpp
