chrono::ChConstraintTuple_2vars< T > Class Template Reference

Description

template<class T>
class chrono::ChConstraintTuple_2vars< T >

Case of tuple with reference to 2 ChVariable objects:

#include <ChConstraintTuple.h>

Collaboration diagram for chrono::ChConstraintTuple_2vars< T >:

Public Member Functions

 ChConstraintTuple_2vars ()
 Default constructor.
 
 ChConstraintTuple_2vars (const ChConstraintTuple_2vars &other)
 Copy constructor.
 
ChConstraintTuple_2varsoperator= (const ChConstraintTuple_2vars &other)
 Assignment operator: copy from other object.
 
ChRowVectorRef Get_Cq_1 ()
 
ChRowVectorRef Get_Cq_2 ()
 
ChVectorRef Get_Eq_1 ()
 
ChVectorRef Get_Eq_2 ()
 
ChVariablesGetVariables_1 ()
 
ChVariablesGetVariables_2 ()
 
void SetVariables (T &m_tuple_carrier)
 
void Update_auxiliary (double &g_i)
 
double ComputeJacobianTimesState ()
 
void IncrementState (double deltal)
 
void AddJacobianTimesVectorInto (double &result, ChVectorConstRef vect) const
 
void AddJacobianTransposedTimesScalarInto (ChVectorRef result, double l) const
 
void PasteJacobianInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const
 
void PasteJacobianTransposedInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const
 

Protected Attributes

ChVariablesvariables_1
 
ChVariablesvariables_2
 
ChRowVectorN< double, T::nvars1 > Cq_1
 The [Cq] jacobian of the constraint, split in horizontal chunks.
 
ChRowVectorN< double, T::nvars2 > Cq_2
 
ChVectorN< double, T::nvars1 > Eq_1
 The [Eq] product [Eq]=[invM]*[Cq]'.
 
ChVectorN< double, T::nvars2 > Eq_2
 

The documentation for this class was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono/solver/ChConstraintTuple.h