Description

Gear link between two rigid bodies.

This can also be used to represent spur and bevel gears, and it correctly handles the direction of transmitted force given the teeth pressure angle.

#include <ChLinkLockGear.h>

Inheritance diagram for chrono::ChLinkLockGear:

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Collaboration diagram for chrono::ChLinkLockGear:

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Public Member Functions
	ChLinkLockGear (const ChLinkLockGear &other)

virtual ChLinkLockGear *	Clone () const override
	"Virtual" copy constructor (covariant return type).

virtual void	Update (double time, UpdateFlags update_flags) override
	Full update. More...

double	GetTransmissionRatio () const
	Get the transmission ratio. More...

void	SetTransmissionRatio (double mset)
	Set the transmission ratio. More...

void	SetTransmissionRatio (double mz1, double mz2)
	Set the transmission ratio given the number of teeth (or radius) of 1st gear and the number of teeth (or radius) of 2nd gear.

double	GetPressureAngle () const
	Get the pressure angle, in [rad] (usually 20 [deg] for typical gears, default null)

void	SetPressureAngle (double mset)
	Set the pressure angle, in [rad] (usually 20 [deg] for typical gears, default null)

double	GetPitchAngle () const
	Get the helix angle of teeth in helicoidal gears, in [rad] (null for spur gears, default)

void	SetPitchAngle (double mset)
	Set the helix angle of teeth in helicoidal gears, in [rad] (null for spur gears, default)

double	GetPhase () const
	Get the initial phase of rotation of gear A respect to gear B.

void	SetPhase (double mset)
	Set the initial phase of rotation of gear A respect to gear B.

bool	GetEpicyclic () const
	If true, the bigger wheel has inner (internal) teeth.

void	SetEpicyclic (bool mset)
	If true, the bigger wheel has inner (internal) teeth.

void	SetEnforcePhase (bool mset)
	If true, enforce check on exact phase between gears (otherwise after many simulation steps the phasing may be affected by numerical error accumulation). More...

bool	GetEnforcePhase () const

double	GetRotation1 () const
	Get total rotation of 1st gear, respect to interaxis, in radians.

double	GetRotation2 () const
	Get total rotation of 2nd gear, respect to interaxis, in radians.

void	ResetRotations ()
	Reset the total rotations of a1 and a2.

double	GetRadius1 () const
	Get radius of 1st gear (depends on axis position and t.ratio)

double	GetRadius2 () const
	Get radius of 2nd gear (depends on axis position and t.ratio)

const ChFrame< double > &	GetFrameShaft1 () const
	Get shaft position and direction, for 1st gear, in body1-relative reference. More...

void	SetFrameShaft1 (ChFrame< double > mf)
	Set shaft position and direction, for 1st gear, in body1-relative reference. More...

const ChFrame< double > &	GetFrameShaft2 () const
	Get shaft position and direction, for 2nd gear, in body2-relative reference. More...

void	SetFrameShaft2 (ChFrame< double > mf)
	Set shaft position and direction, for 2nd gear, in body2-relative reference. More...

ChVector3d	GetDirShaft1 () const
	Get shaft direction, for 1st gear, in absolute reference.

ChVector3d	GetDirShaft2 () const
	Get shaft direction, for 2nd gear, in absolute reference.

ChVector3d	GetPosShaft1 () const
	Get shaft position, for 1st gear, in absolute reference.

ChVector3d	GetPosShaft2 () const
	Get shaft position, for 2nd gear, in absolute reference.

void	SetTeethCompliant (bool mset, double mstiffness=1e4, double mdamping=1.0)
	Switch to compliant gear teeth contact model. More...

void	SetTeethRigid ()
	Switch off compliant gear teeth contact model.

bool	IsTeethCompliant () const
	Is the compliant gear teeth contact model used?

void	SetTeethStiffness (double mstiffness)
	Set the teeth stiffness [N/m] for compliant gear teeth contact model. More...

void	SetTeethStiffnessTangential (double mstiffness_tang)
	Set the teeth stiffness [N/m] for compliant gear teeth contact model. More...

double	GetTeethStiffness () const
	Get the teeth stiffness [N/m] for compliant gear teeth contact model. More...

void	SetTeethDamping (double damping)
	Set the teeth damping [N/(m/s)] for compliant gear teeth contact model. More...

double	GetTeethDamping () const
	Get the teeth damping [N/(m/s)] for compliant gear teeth contact model. More...

double	GetContactForce ()
	equivalent contact force, about average normal to teeth

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
	Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
	Takes the term Cq'L, scale and adds to R at given offset: R += cCq'*L. More...

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
	Note: signs are flipped from the term dF/dx in the integrator: K = -dF/dq and R = -dF/dv.

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow deserialization of transient data from archives. More...

Public Member Functions inherited from chrono::ChLinkLock
	ChLinkLock ()
	Default constructor. Builds a ChLinkLockSpherical.

	ChLinkLock (const ChLinkLock &other)
	Copy constructor.

virtual void	SetDisabled (bool mdis) override
	Enable/disable all constraints of the link.

virtual void	SetBroken (bool mon) override
	For example, a 3rd party software can set the 'broken' status via this method.

ChLinkMask &	GetMask ()
	Get the link mask (a container for the ChConstraint items).

virtual void	SetupMarkers (ChMarker mark1, ChMarker mark2) override
	Set the two markers associated with this link.

ChLinkForce &	ForceX ()
	Accessors for internal forces on free degrees of freedom. More...

ChLinkForce &	ForceY ()

ChLinkForce &	ForceZ ()

ChLinkForce &	ForceRx ()

ChLinkForce &	ForceRy ()

ChLinkForce &	ForceRz ()

ChLinkForce &	ForceD ()

ChLinkForce &	ForceRp ()

ChLinkLimit &	LimitX ()
	Accessors for limits on free degrees of freedom. More...

ChLinkLimit &	LimitY ()

ChLinkLimit &	LimitZ ()

ChLinkLimit &	LimitRx ()

ChLinkLimit &	LimitRy ()

ChLinkLimit &	LimitRz ()

ChLinkLimit &	LimitD ()

ChLinkLimit &	LimitRp ()

virtual unsigned int	GetNumConstraints () override
	Get the number of scalar constraints for this link.

virtual unsigned int	GetNumConstraintsBilateral () override
	Get the number of bilateral constraints for this link.

virtual unsigned int	GetNumConstraintsUnilateral () override
	Get the number of unilateral constraints for this link.

virtual ChVectorDynamic	GetConstraintViolation () const override
	Link violation (residuals of the link constraint equations).

const ChConstraintVectorX &	GetConstraintViolationDt () const
	Time derivatives of link violation.

const ChConstraintVectorX &	GetConstraintViolationDt2 () const
	Second time derivatives of link violation.

const ChConstraintMatrixX7 &	GetCq1 () const
	The jacobian (body n.1 part, i.e. columns= 7 , rows= m_num_constr)

const ChConstraintMatrixX7 &	GetCq2 () const
	The jacobian (body n.2 part, i.e. columns= 7 , rows= m_num_constr)

const ChConstraintMatrixX6 &	GetCqw1 () const
	The jacobian for Wl (col 6, rows= m_num_constr), as [Cqw1_rot]=[Cq_rot]*[Gl_1]'.

const ChConstraintMatrixX6 &	GetCqw2 () const
	The jacobian for Wl (col 6, rows= m_num_constr) as [Cqw2_rot]=[Cq_rot]*[Gl_2]'.

const ChConstraintVectorX &	GetQc () const
	The gamma vector used in dynamics, [Cq]x''=Qc.

const ChConstraintVectorX &	GetCt () const
	The Ct vector used in kinematics, [Cq]x'=Ct.

const ChConstraintVectorX &	GetReact () const
	Access the reaction vector, after dynamics computations.

virtual void	UpdateTime (double mytime)
	Update time-dependent quantities in link state (e.g., motion laws, moving markers, etc.).

virtual void	UpdateState ()
	Given current time and body state, computes the constraint differentiation to get the the state matrices Cq1, Cq2, Qc, Ct , and also C, C_dt, C_dtd.

virtual void	UpdateForces (double time) override
	Updates the local F, M forces adding penalties from ChLinkLimit objects, if any.

void	UpdateCqw ()
	Updates Cqw1 and Cqw2 given updated Cq1 and Cq2, i.e. More...

Public Member Functions inherited from chrono::ChLinkMarkers
ChMarker *	GetMarker1 () const
	Return the 1st referenced marker (the secondary marker, on 1st body).

ChMarker *	GetMarker2 () const
	Return the 2nd referenced marker (the main marker, on 2nd body).

virtual ChFrame	GetFrame1Rel () const override
	Get the link frame 1, relative to body 1. More...

virtual ChFrame	GetFrame2Rel () const override
	Get the link frame 2, relative to body 2. More...

const ChCoordsysd &	GetRelCoordsys () const
	Relative position of marker 1 respect to marker 2.

const ChCoordsysd &	GetRelCoordsysDt () const
	Relative speed of marker 1 respect to marker 2.

const ChCoordsysd &	GetRelCoordsysDt2 () const
	Relative acceleration of marker 1 respect to marker 2.

double	GetRelAngle () const
	Relative rotation angle of marker 1 respect to marker 2.

const ChVector3d &	GetRelAxis () const
	Relative finite rotation axis of marker 1 respect to marker 2.

const ChVector3d &	GetRelAngleAxis () const

const ChVector3d &	GetRelativeAngVel () const
	Relative angular speed of marker 1 respect to marker 2.

const ChVector3d &	GetRelativeAngAcc () const
	Relative angular acceleration of marker 1 respect to marker 2.

double	GetDistance () const
	Relative 'polar' distance of marker 1 respect to marker 2.

double	GetDistanceDt () const
	Relative speed of marker 1 respect to marker 2, along the polar distance vector.

const ChVector3d &	GetAccumulatedForce () const
	Get the total applied force accumulators (force, momentum) in link coords. More...

const ChVector3d &	GetAccumulatedTorque () const

virtual void	Initialize (std::shared_ptr< ChMarker > mark1, std::shared_ptr< ChMarker > mark2)
	Initialize the link to join two markers. More...

virtual void	Initialize (std::shared_ptr< ChBody > mbody1, std::shared_ptr< ChBody > mbody2, const ChFrame<> &frame)
	Initialize the link to join two rigid bodies. More...

virtual void	Initialize (std::shared_ptr< ChBody > mbody1, std::shared_ptr< ChBody > mbody2, bool rel_frames, const ChFrame<> &frame1, const ChFrame<> &frame2)
	Initialize the link to join two rigid bodies. More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const override
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual void	UpdateRelMarkerCoords ()
	Updates auxiliary quantities for all relative degrees of freedom of the two markers.

virtual void	ConstraintsFbLoadForces (double factor=1) override
	Overrides the empty behaviour of the parent ChLink implementation, which does not consider any user-imposed force between the two bodies. More...

Public Member Functions inherited from chrono::ChLink
	ChLink (const ChLink &other)

virtual unsigned int	GetNumAffectedCoords () override
	Get the number of scalar variables affected by constraints in this link.

ChBodyFrame *	GetBody1 () const
	Get the constrained body 1.

ChBodyFrame *	GetBody2 () const
	Get the constrained body 2.

virtual ChFramed	GetFrame1Abs () const override
	Get the link frame 1, on body 1, expressed in the absolute frame.

virtual ChFramed	GetFrame2Abs () const override
	Get the link frame 2, on body 2, expressed in the absolute frame.

virtual ChWrenchd	GetReaction1 () const override
	Get the reaction force and torque on the 1st body, expressed in the link frame 1.

virtual ChWrenchd	GetReaction2 () const override
	Get the reaction force and torque on the 2nd body object, expressed in the link frame 2.

virtual void	UpdatedExternalTime (double prevtime, double time)
	Called from a external package (i.e. a plugin, a CAD app.) to report that time has changed.

Public Member Functions inherited from chrono::ChLinkBase
	ChLinkBase (const ChLinkBase &other)

bool	IsValid ()
	Tells if the link data is currently valid. More...

void	SetValid (bool mon)
	Set the status of link validity.

bool	IsDisabled ()
	Tells if all constraints of this link are currently turned on or off by the user.

bool	IsBroken ()
	Tells if the link is broken, for excess of pulling/pushing.

virtual bool	IsActive () const override
	Return true if the link is currently active and thereofre included into the system solver. More...

virtual bool	IsRequiringWaking ()
	Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. More...

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem().

virtual void	SetSystem (ChSystem *m_system)
	Set the pointer to the parent ChSystem(). More...

virtual bool	IsCollisionEnabled () const
	Tell if the object is subject to collision. More...

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
	Add to the provided collision system any collision models managed by this physics item. More...

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
	Remove from the provided collision system any collision models managed by this physics item. More...

virtual void	SyncCollisionModels ()
	Synchronize the position and bounding box of any collision models managed by this physics item.

virtual ChAABB	GetTotalAABB () const
	Get the axis-aligned bounding box (AABB) of this object. More...

virtual ChVector3d	GetCenter () const
	Get a symbolic 'center' of the object. More...

virtual void	Setup ()
	Perform setup operations. More...

virtual void	ForceToRest ()
	Set zero speed (and zero accelerations) in state, without changing the position. More...

virtual unsigned int	GetNumCoordsPosLevel ()
	Get the number of coordinates at the position level. More...

virtual unsigned int	GetNumCoordsVelLevel ()
	Get the number of coordinates at the velocity level. More...

unsigned int	GetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	GetOffset_w ()
	Get offset in the state vector (speed part)

unsigned int	GetOffset_L ()
	Get offset in the Lagrange multipliers.

void	SetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_L (const unsigned int moff)
	Set offset in the Lagrange multipliers Note: only the ChSystem::Setup function should use this.

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, UpdateFlags update_flags)
	From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a)
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
	From global acceleration vector to item's state acceleration. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv)
	Computes Dt = x_new - x, using vectors at specified offsets. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c)
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	InjectVariables (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	VariablesFbReset ()
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1)
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed ()
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq ()
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0)
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step)
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this object. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a camera to this object. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this object.

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

virtual std::string &	ArchiveContainerName ()

Protected Attributes
double	tau
	transmission coeff.

double	alpha
	inclination of action line

double	beta
	helix angle

double	phase
	mounting phase angle

bool	checkphase
	keep gear always on phase

bool	epicyclic
	epiciclyc (gear 1 is internal to gear2) if true.

double	a1
	auxiliary

double	a2
	auxiliary

double	r1
	auxiliary

double	r2
	auxiliary

ChVector3d	contact_pt

ChFrame< double >	local_shaft1
	shaft1 pos & dir (as Z axis), relative to body1

ChFrame< double >	local_shaft2
	shaft2 pos & dir (as Z axis), relative to body2

bool	is_compliant

double	teeth_stiffness

double	teeth_damping

Protected Attributes inherited from chrono::ChLinkLock
Type	type
	type of link_lock joint

ChLinkMaskLF	mask
	scalar constraints

int	m_num_constr
	number of degrees of constraint

int	m_num_constr_bil
	number of degrees of constraint (bilateral constraintss)

int	m_num_constr_uni
	number of degrees of constraint (unilateral constraints, excluding joint limits)

std::unique_ptr< ChLinkForce >	force_D
	the force acting on the straight line m1-m2 (distance)

std::unique_ptr< ChLinkForce >	force_R
	the torque acting about rotation axis

std::unique_ptr< ChLinkForce >	force_X
	the force acting along X dof

std::unique_ptr< ChLinkForce >	force_Y
	the force acting along Y dof

std::unique_ptr< ChLinkForce >	force_Z
	the force acting along Z dof

std::unique_ptr< ChLinkForce >	force_Rx
	the torque acting about Rx dof

std::unique_ptr< ChLinkForce >	force_Ry
	the torque acting about Ry dof

std::unique_ptr< ChLinkForce >	force_Rz
	the torque acting about Rz dof

double	d_restlength
	the rest length of the "d_spring" spring

std::unique_ptr< ChLinkLimit >	limit_X
	the upper/lower limits for X dof

std::unique_ptr< ChLinkLimit >	limit_Y
	the upper/lower limits for Y dof

std::unique_ptr< ChLinkLimit >	limit_Z
	the upper/lower limits for Z dof

std::unique_ptr< ChLinkLimit >	limit_Rx
	the upper/lower limits for Rx dof

std::unique_ptr< ChLinkLimit >	limit_Ry
	the upper/lower limits for Ry dof

std::unique_ptr< ChLinkLimit >	limit_Rz
	the upper/lower limits for Rz dof

std::unique_ptr< ChLinkLimit >	limit_Rp
	the polar (conical) limit for "shoulder"rotation

std::unique_ptr< ChLinkLimit >	limit_D
	the polar (conical) limit for "shoulder"rotation

ChConstraintVectorX	C
	C(q,q_dt,t), the constraint violations.

ChConstraintVectorX	C_dt
	Speed constraint violations.

ChConstraintVectorX	C_dtdt
	Acceleration constraint violations.

ChConstraintMatrixX7	Cq1
	[Cq1], the jacobian of the constraint, for coords1, [m_num_constr,7]

ChConstraintMatrixX7	Cq2
	[Cq2], the jacobian of the constraint, for coords2. [m_num_constr,7]

ChConstraintMatrixX6	Cqw1
	Jacobian [m_num_constr,6] for 3 Wl rot.coordinates instead of quaternions.

ChConstraintMatrixX6	Cqw2
	Jacobian [m_num_constr,6] for 3 Wl rot.coordinates instead of quaternions.

ChConstraintVectorX	Q_c
	{Qc}, the known part, {Qc}=-{C_dtdt}-([Cq]{q_dt})q-2[Cq_dt]{q_dt}

ChConstraintVectorX	Ct
	partial derivative of the link kin. equation wrt to time

ChConstraintVectorX	react
	{l}, the lagrangians forces in the constraints

ChMatrixNM< double, 7, BODY_QDOF >	Cq1_temp

ChMatrixNM< double, 7, BODY_QDOF >	Cq2_temp

ChVectorN< double, 7 >	Q_c_temp

ChCoordsysd	Ct_temp

Protected Attributes inherited from chrono::ChLinkMarkers
ChMarker *	marker1
	secondary coordsys

ChMarker *	marker2
	main coordsys

ChCoordsysd	relM
	relative marker position 2-1

ChCoordsysd	relM_dt
	relative marker speed

ChCoordsysd	relM_dtdt
	relative marker acceleration

double	relAngle
	relative angle of rotation

ChVector3d	relAxis
	relative axis of rotation

ChVector3d	relRotaxis
	relative rotaion vector =angle*axis

ChVector3d	relWvel
	relative angular speed

ChVector3d	relWacc
	relative angular acceleration

double	dist
	the distance between the two origins of markers,

double	dist_dt
	the speed between the two origins of markers

ChVector3d	C_force
	internal force applied by springs/dampers/actuators

ChVector3d	C_torque
	internal torque applied by springs/dampers/actuators

ChVector3d	PQw

ChVector3d	PQw_dt

ChVector3d	PQw_dtdt

ChQuaternion	q_AD

ChQuaternion	q_BC

ChQuaternion	q_8

ChVector3d	q_4

Protected Attributes inherited from chrono::ChLink
ChBodyFrame *	m_body1
	first connected body

ChBodyFrame *	m_body2
	second connected body

ChVector3d	react_force
	xyz reactions, expressed in local coordinate system of link;

ChVector3d	react_torque
	torque reactions, expressed in local coordinate system of link;

Protected Attributes inherited from chrono::ChLinkBase
bool	disabled
	all constraints of link disabled because of user needs

bool	valid
	link data is valid

bool	broken
	link is broken because of excessive pulling/pushing.

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

unsigned int	offset_L
	offset in vector of Lagrange multipliers

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

Additional Inherited Members
Public Types inherited from chrono::ChLinkLock
using	ChConstraintVectorX = Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor, 7, 1 >

using	ChConstraintMatrixX6 = Eigen::Matrix< double, Eigen::Dynamic, BODY_DOF, Eigen::RowMajor, 7, BODY_DOF >

using	ChConstraintMatrixX7 = Eigen::Matrix< double, Eigen::Dynamic, BODY_QDOF, Eigen::RowMajor, 7, BODY_QDOF >

Protected Types inherited from chrono::ChLinkLock
enum	Type { LOCK, SPHERICAL, POINTPLANE, POINTLINE, CYLINDRICAL, PRISMATIC, PLANEPLANE, OLDHAM, REVOLUTE, FREE, ALIGN, PARALLEL, PERPEND, TRAJECTORY, CLEARANCE, REVOLUTEPRISMATIC }
	Type of link-lock.

Protected Member Functions inherited from chrono::ChLinkLock
void	BuildLink ()
	Resize matrices and initializes all mask-dependent quantities. More...

void	BuildLinkType (Type link_type)
	Set the mask and then resize matrices.

void	BuildLink (bool x, bool y, bool z, bool e0, bool e1, bool e2, bool e3)

void	ChangeType (Type new_link_type)

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
	From global reaction vector to item's reaction forces. More...

virtual void	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
	From item's reaction forces to global reaction vector. More...

virtual void	IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) override
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...

virtual void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
	Prepare variables and constraints to accommodate a solution: More...

virtual void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	InjectConstraints (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChConstraint objects associated with this item.

virtual void	ConstraintsBiReset () override
	Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) override
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1) override
	Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Qc (double factor=1) override
	Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void	LoadConstraintJacobians () override
	Compute and load current Jacobians in encapsulated ChConstraint objects.

virtual void	ConstraintsFetch_react (double factor=1) override
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

Protected Member Functions inherited from chrono::ChLinkMarkers
	ChLinkMarkers (const ChLinkMarkers &other)

Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Member Function Documentation

◆ ArchiveIn()

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

overridevirtual

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChLinkLock.

◆ GetFrameShaft1()

const ChFrame<double>& chrono::ChLinkLockGear::GetFrameShaft1 ( ) const

inline

Get shaft position and direction, for 1st gear, in body1-relative reference.

The shaft direction is the Z axis of that frame.

◆ GetFrameShaft2()

const ChFrame<double>& chrono::ChLinkLockGear::GetFrameShaft2 ( ) const

inline

Get shaft position and direction, for 2nd gear, in body2-relative reference.

The shaft direction is the Z axis of that frame.

◆ GetTeethDamping()

double chrono::ChLinkLockGear::GetTeethDamping ( ) const

inline

Get the teeth damping [N/(m/s)] for compliant gear teeth contact model.

Assumed in the normal direction of contact (hence inclined by alpha, beta angles)

◆ GetTeethStiffness()

double chrono::ChLinkLockGear::GetTeethStiffness ( ) const

inline

Get the teeth stiffness [N/m] for compliant gear teeth contact model.

Assumed in the normal direction of contact (hence inclined by alpha, beta angles)

◆ GetTransmissionRatio()

double chrono::ChLinkLockGear::GetTransmissionRatio ( ) const

inline

Get the transmission ratio.

Its value is assumed always positive, both for inner and outer gears (so use GetEpicyclic() to distinguish)

◆ IntLoadConstraint_C()

void chrono::ChLinkLockGear::IntLoadConstraint_C	(	const unsigned int	off,
		ChVectorDynamic<> &	Qc,
		const double	c,
		bool	do_clamp,
		double	recovery_clamp
	)

overridevirtual

Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

Parameters

off	offset in Qc residual
Qc	result: the Qc residual, Qc += c*C
c	a scaling factor
do_clamp	apply clamping to c*C?
recovery_clamp	value for min/max clamping of c*C

Reimplemented from chrono::ChLinkLock.

◆ IntLoadResidual_CqL()

void chrono::ChLinkLockGear::IntLoadResidual_CqL	(	const unsigned int	off_L,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	L,
		const double	c
	)

overridevirtual

Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

Parameters

off_L	offset in L multipliers
R	result: the R residual, R += cCq'L
L	the L vector
c	a scaling factor

Reimplemented from chrono::ChLinkLock.

◆ IntLoadResidual_F()

void chrono::ChLinkLockGear::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

overridevirtual

Takes the F force term, scale and adds to R at given offset: R += c*F.

Parameters

off	offset in R residual
R	result: the R residual, R += c*F
c	a scaling factor

Reimplemented from chrono::ChLinkMarkers.

◆ SetEnforcePhase()

void chrono::ChLinkLockGear::SetEnforcePhase ( bool mset )

inline

If true, enforce check on exact phase between gears (otherwise after many simulation steps the phasing may be affected by numerical error accumulation).

By default, it is turned off. Note that, to ensure the correct phasing during the many rotations, an algorithm will use the a1 and a2 total rotation values, which might be affected by loss of numerical precision after few thousands of revolutions, so this is NOT suited to real-time simulators which must run for many hours.

◆ SetFrameShaft1()

void chrono::ChLinkLockGear::SetFrameShaft1 ( ChFrame< double > mf )

inline

Set shaft position and direction, for 1st gear, in body1-relative reference.

The shaft direction is the Z axis of that frame. Note that the origin of shaft position may be automatically shifted along shaft direction in order to have both wheels on same plane (for spur gears) - same sphere (for bevel gears).

◆ SetFrameShaft2()

void chrono::ChLinkLockGear::SetFrameShaft2 ( ChFrame< double > mf )

inline

Set shaft position and direction, for 2nd gear, in body2-relative reference.

The shaft direction is the Z axis of that frame.

◆ SetTeethCompliant()

void chrono::ChLinkLockGear::SetTeethCompliant	(	bool	mset,
		double	mstiffness = `1e4`,
		double	mdamping = `1.0`
	)

Switch to compliant gear teeth contact model.

Automatically calls SetEnforcePhase(true), needed for compliant teeth.

◆ SetTeethDamping()

void chrono::ChLinkLockGear::SetTeethDamping ( double damping )

Set the teeth damping [N/(m/s)] for compliant gear teeth contact model.

Automatically calls SetTeethCompliant and SetEnforcePhase(true), needed for compliant teeth. Damping assumed in the normal direction of contact (hence inclined by alpha, beta angles)

◆ SetTeethStiffness()

void chrono::ChLinkLockGear::SetTeethStiffness ( double mstiffness )

Set the teeth stiffness [N/m] for compliant gear teeth contact model.

Automatically calls SetTeethCompliant and SetEnforcePhase(true), needed for compliant teeth. Stiffenss assumed in the normal direction of contact (hence inclined by alpha, beta angles), and NOT in the tangential direction. If you need to set teeth stiffness purely in tangent direction, use SetTeethStiffnessTangential()

◆ SetTeethStiffnessTangential()

void chrono::ChLinkLockGear::SetTeethStiffnessTangential ( double mstiffness_tang )

Set the teeth stiffness [N/m] for compliant gear teeth contact model.

Automatically calls SetTeethCompliant and SetEnforcePhase(true), needed for compliant teeth. Stiffenss assumed in the tangential direction of contact. The teeth "equivalent normal stiffness" will be automatically computed as a consequence of current alpha, beta angles.

◆ SetTransmissionRatio()

void chrono::ChLinkLockGear::SetTransmissionRatio ( double mset )

inline

Set the transmission ratio.

Its value is assumed always positive, both for inner and outer gears (so use SetEpicyclic() to distinguish)

◆ Update()

void chrono::ChLinkLockGear::Update	(	double	time,
		UpdateFlags	update_flags
	)

overridevirtual

Full update.

Fills-in all the matrices of the link, and does all required calculations by calling specific Update functions in sequence:

UpdateTime;
UpdateRelMarkerCoords;
UpdateState;
UpdateCqw
UpdateForces;

Reimplemented from chrono::ChLinkLock.

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

/builds/uwsbel/chrono/src/chrono/physics/ChLinkLockGear.h
/builds/uwsbel/chrono/src/chrono/physics/ChLinkLockGear.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ ArchiveIn()

◆ GetFrameShaft1()

◆ GetFrameShaft2()

◆ GetTeethDamping()

◆ GetTeethStiffness()

◆ GetTransmissionRatio()

◆ IntLoadConstraint_C()

◆ IntLoadResidual_CqL()

◆ IntLoadResidual_F()

◆ SetEnforcePhase()

◆ SetFrameShaft1()

◆ SetFrameShaft2()

◆ SetTeethCompliant()

◆ SetTeethDamping()

◆ SetTeethStiffness()

◆ SetTeethStiffnessTangential()

◆ SetTransmissionRatio()

◆ Update()