Description

Interface base class for scalar functions.

Base class for all Chrono scalar functions. The GetVal() and Clone() methods must be implemented by derived classes.

#include <ChFunctionBase.h>

Inheritance diagram for chrono::ChFunction:

[legend]

Public Types
enum	Type { BSPLINE, CONSTANT, CONSTACC, CONSTJERK, CUSTOM, CYCLOIDAL, DERIVATIVE, FILLET3, INTEGRAL, INTERP, LAMBDA, MIRROR, OPERATOR, POLY, POLY23, POLY345, RAMP, REPEAT, SEQUENCE, SINE, SINE_STEP }
	Enumeration of function types.

Public Member Functions
	ChFunction (const ChFunction &other)

virtual ChFunction *	Clone () const =0
	"Virtual" copy constructor.

virtual Type	GetType () const
	Return the unique function type identifier.

virtual double	GetVal (double x) const =0
	Return the function output for input x. More...

virtual double	GetDer (double x) const
	Return the first derivative of the function. More...

virtual double	GetDer2 (double x) const
	Return the second derivative of the function. More...

virtual double	GetDer3 (double x) const
	Return the third derivative of the function. More...

virtual double	GetDerN (double x, int der_order) const
	Return the Nth derivative of the function (up to 3rd derivative). More...

virtual double	GetWeight (double x) const
	Return the weight of the function. More...

virtual void	Update (double x)
	Update the function at the provided value of its argument.

virtual double	GetMax (double xmin, double xmax, double sampling_step, int der_order) const
	Estimate the maximum of the function (or its der_order derivative) in the range [xmin, xmax]. More...

virtual double	GetMin (double xmin, double xmax, double sampling_step, int der_order) const
	Estimate the minimum of the function (or its der_order derivative) in the range [xmin, xmax]. More...

virtual double	GetMean (double xmin, double xmax, double sampling_step, int der_order) const
	Estimate the mean of the function (or its der_order derivative) in the range [xmin, xmax]. More...

virtual double	GetSquaredMean (double xmin, double xmax, double sampling_step, int der_order) const
	Estimate the squared mean of the function (or its der_order derivative) in the range [xmin, xmax]. More...

virtual double	GetIntegral (double xmin, double xmax, double sampling_step, int der_order) const
	Estimate the integral of the function (or its der_order derivative) over the range [xmin, xmax]. More...

virtual double	GetPositiveAccelerationCoeff () const
	Compute the positive acceleration coefficient. More...

virtual double	GetNegativeAccelerationCoeff () const
	Compute the negative acceleration coefficient. More...

virtual double	GetVelocityCoefficient () const
	Compute the velocity coefficient. More...

virtual void	OutputToASCIIFile (std::ostream &file, double xmin, double xmax, int samples, char delimiter)
	Store X-Y pairs to an ASCII File. More...

virtual ChMatrixDynamic	SampleUpToDerN (double xmin, double xmax, double step, int derN=0)
	Sample function on given interval [xmin, xmax], up to derN derivative (0 being the function ouput itself). More...

double	operator() (double arg) const
	Alias operator of the GetVal function.

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. More...

Member Function Documentation

◆ ArchiveIn()

void chrono::ChFunction::ArchiveIn ( ChArchiveIn & archive_in )

virtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented in chrono::ChFunctionSequence, chrono::ChFunctionConstJerk, chrono::ChFunctionBSpline, chrono::ChFunctionConstAcc, chrono::ChFunctionIntegral, chrono::ChFunctionFillet3, chrono::ChFunctionInterp, chrono::ChFunctionOperator, chrono::ChFunctionPoly23, chrono::ChFunctionSine, chrono::ChFunctionPoly345, chrono::ChFunctionPoly, chrono::ChFunctionSetpoint, chrono::ChFunctionCycloidal, chrono::ChFunctionDerivative, chrono::ChFunctionRamp, chrono::ChFunctionMirror, chrono::ChFunctionConst, chrono::ChFunctionSineStep, and chrono::ChFunctionRepeat.

◆ GetDer()

double chrono::ChFunction::GetDer ( double x ) const

virtual

Return the first derivative of the function.

Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).

Reimplemented in chrono::ChFunctionConstJerk, chrono::ChFunctionBSpline, chrono::ChFunctionSequence, chrono::ChFunctionConstAcc, chrono::ChFunctionFillet3, chrono::ChFunctionPoly345, chrono::ChFunctionCycloidal, chrono::ChFunctionInterp, chrono::ChFunctionPoly23, chrono::ChFunctionSine, chrono::ChFunctionConst, chrono::ChFunctionRamp, chrono::ChFunctionPoly, chrono::ChFunctionSetpoint, and chrono::ChFunctionSineStep.

◆ GetDer2()

double chrono::ChFunction::GetDer2 ( double x ) const

virtual

Return the second derivative of the function.

Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).

Reimplemented in chrono::ChFunctionConstJerk, chrono::ChFunctionBSpline, chrono::ChFunctionSequence, chrono::ChFunctionConstAcc, chrono::ChFunctionFillet3, chrono::ChFunctionPoly345, chrono::ChFunctionCycloidal, chrono::ChFunctionInterp, chrono::ChFunctionPoly23, chrono::ChFunctionSine, chrono::ChFunctionConst, chrono::ChFunctionRamp, chrono::ChFunctionPoly, chrono::ChFunctionSetpoint, and chrono::ChFunctionSineStep.

◆ GetDer3()

double chrono::ChFunction::GetDer3 ( double x ) const

virtual

Return the third derivative of the function.

Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).

Reimplemented in chrono::ChFunctionConstJerk, chrono::ChFunctionBSpline, chrono::ChFunctionCycloidal, and chrono::ChFunctionPoly345.

◆ GetDerN()

double chrono::ChFunction::GetDerN	(	double	x,
		int	der_order
	)		const

virtual

Return the Nth derivative of the function (up to 3rd derivative).

Alias for other GetDerX functions.

◆ GetIntegral()

double chrono::ChFunction::GetIntegral	(	double	xmin,
		double	xmax,
		double	sampling_step,
		int	der_order
	)		const

virtual

Estimate the integral of the function (or its der_order derivative) over the range [xmin, xmax].

The estimate is based on function evaluation at equally-spaced points.

◆ GetMax()

double chrono::ChFunction::GetMax	(	double	xmin,
		double	xmax,
		double	sampling_step,
		int	der_order
	)		const

virtual

Estimate the maximum of the function (or its der_order derivative) in the range [xmin, xmax].

The estimate is based on function evaluation at equally-spaced points.

◆ GetMean()

double chrono::ChFunction::GetMean	(	double	xmin,
		double	xmax,
		double	sampling_step,
		int	der_order
	)		const

virtual

Estimate the mean of the function (or its der_order derivative) in the range [xmin, xmax].

The estimate is based on function evaluation at equally-spaced points.

◆ GetMin()

double chrono::ChFunction::GetMin	(	double	xmin,
		double	xmax,
		double	sampling_step,
		int	der_order
	)		const

virtual

Estimate the minimum of the function (or its der_order derivative) in the range [xmin, xmax].

The estimate is based on function evaluation at equally-spaced points.

◆ GetNegativeAccelerationCoeff()

virtual double chrono::ChFunction::GetNegativeAccelerationCoeff ( ) const

inlinevirtual

Compute the negative acceleration coefficient.

(derived classes should override this).

Reimplemented in chrono::ChFunctionConstAcc, chrono::ChFunctionPoly23, and chrono::ChFunctionPoly345.

◆ GetPositiveAccelerationCoeff()

virtual double chrono::ChFunction::GetPositiveAccelerationCoeff ( ) const

inlinevirtual

Compute the positive acceleration coefficient.

(derived classes should override this).

Reimplemented in chrono::ChFunctionConstAcc, chrono::ChFunctionPoly23, and chrono::ChFunctionPoly345.

◆ GetSquaredMean()

double chrono::ChFunction::GetSquaredMean	(	double	xmin,
		double	xmax,
		double	sampling_step,
		int	der_order
	)		const

virtual

Estimate the squared mean of the function (or its der_order derivative) in the range [xmin, xmax].

The estimate is based on function evaluation at equally-spaced points.

◆ GetVal()

virtual double chrono::ChFunction::GetVal ( double x ) const

pure virtual

Return the function output for input x.

Must be overridden by specialized classes.

◆ GetVelocityCoefficient()

virtual double chrono::ChFunction::GetVelocityCoefficient ( ) const

inlinevirtual

Compute the velocity coefficient.

(derived classes must override this).

Reimplemented in chrono::ChFunctionConstAcc, chrono::ChFunctionPoly23, and chrono::ChFunctionPoly345.

◆ GetWeight()

virtual double chrono::ChFunction::GetWeight ( double x ) const

inlinevirtual

Return the weight of the function.

(useful for applications where you need to mix different weighted ChFunctions)

Reimplemented in chrono::ChFunctionSequence.

◆ OutputToASCIIFile()

void chrono::ChFunction::OutputToASCIIFile	(	std::ostream &	file,
		double	xmin,
		double	xmax,
		int	samples,
		char	delimiter
	)

virtual

Store X-Y pairs to an ASCII File.

Values are separated by delimiter (default=','). The function is sampled samples times, from xmin to xmax.

◆ SampleUpToDerN()

ChMatrixDynamic chrono::ChFunction::SampleUpToDerN	(	double	xmin,
		double	xmax,
		double	step,
		int	derN = `0`
	)

virtual

Sample function on given interval [xmin, xmax], up to derN derivative (0 being the function ouput itself).

Store interval x=[xmin:step:xmax] and function evaluations as columns into matrix.

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

/builds/uwsbel/chrono/src/chrono/functions/ChFunctionBase.h
/builds/uwsbel/chrono/src/chrono/functions/ChFunctionBase.cpp

Description

Public Types

Public Member Functions

Member Function Documentation

◆ ArchiveIn()

◆ GetDer()

◆ GetDer2()

◆ GetDer3()

◆ GetDerN()

◆ GetIntegral()

◆ GetMax()

◆ GetMean()

◆ GetMin()

◆ GetNegativeAccelerationCoeff()

◆ GetPositiveAccelerationCoeff()

◆ GetSquaredMean()

◆ GetVal()

◆ GetVelocityCoefficient()

◆ GetWeight()

◆ OutputToASCIIFile()

◆ SampleUpToDerN()