chrono::ChLinkLockPulley Class Reference

Description

Class to create pulleys on two rigid bodies, connected by a belt.

The two bodies must be already connected to a truss by other links, for example two revolute joints (ChLinkLockRevolute), because this link constraints only the rotation.

#include <ChLinkLockPulley.h>

Inheritance diagram for chrono::ChLinkLockPulley:
Collaboration diagram for chrono::ChLinkLockPulley:

Public Member Functions

 ChLinkLockPulley (const ChLinkLockPulley &other)
 
virtual ChLinkLockPulleyClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual void UpdateTime (double mytime) override
 Updates motion laws, marker positions, etc.
 
void SetRadius1 (double mr)
 Set radius of 1st pulley.
 
void SetRadius2 (double mr)
 Set radius of 2nd pulley.
 
double GetRadius1 () const
 Get radius of 1st pulley.
 
double GetRadius2 () const
 Get radius of 2nd pulley.
 
double GetTransmissionRatio () const
 Get the transmission ratio. Its value is assumed always positive.
 
double GetPhase () const
 Get the initial phase of rotation of pulley 1.
 
void SetPhase (double mset)
 Set the initial phase of rotation of pulley 1.
 
void SetEnforcePhase (bool mset)
 If true, enforce check on exact phase between pulleys (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 pulley, respect to interaxis, in radians.
 
double GetRotation2 () const
 Get total rotation of 1st pulley, respect to interaxis, in radians.
 
void ResetRotations ()
 Reset the total rotations of a1 and a2.
 
const ChFrame< double > & GetFrameShaft1 () const
 Get shaft position and direction, for 1st pulley, in body1-relative reference. More...
 
void SetFrameShaft1 (ChFrame< double > mf)
 Set shaft position and direction, for 1st pulley, in body1-relative reference. More...
 
const ChFrame< double > & GetFrameShaft2 () const
 Get shaft position and direction, for 2nd pulley, in body2-relative reference. More...
 
void SetFrameShaft2 (ChFrame< double > mf)
 Set shaft position and direction, for 2nd pulley, in body2-relative reference. More...
 
ChVector3d GetDirShaft1 ()
 Get shaft direction, for 1st pulley, in absolute reference.
 
ChVector3d GetDirShaft2 ()
 Get shaft direction, for 2nd pulley, in absolute reference.
 
ChVector3d GetPosShaft1 ()
 Get shaft position, for 1st pulley, in absolute reference.
 
ChVector3d GetPosShaft2 ()
 Get shaft position, for 2nd pulley, in absolute reference.
 
ChVector3d GetBeltUpPos1 () const
 Get the endpoint of belt, on pulley of body1, for the 'upper' segment, in absolute coordinates.
 
ChVector3d GetBeltUpPos2 () const
 Get the endpoint of belt, on pulley of body2, for the 'upper' segment, in absolute coordinates.
 
ChVector3d GetBeltBottomPos1 () const
 Get the endpoint of belt, on pulley of body1, for the 'lower' segment, in absolute coordinates.
 
ChVector3d GetBeltBottomPos2 () const
 Get the endpoint of belt, on pulley of body1, for the 'lower' segment, in absolute coordinates.
 
double GetShaftsDistance () const
 Return distance between the two axes.
 
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::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem().
 
virtual void SetSystem (ChSystem *m_system)
 Set the pointer to the parent ChSystem(). More...
 
void AddVisualModel (std::shared_ptr< ChVisualModel > model)
 Add an (optional) visualization model. More...
 
std::shared_ptr< ChVisualModelGetVisualModel () 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< ChVisualShapeGetVisualShape (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< ChVisualShapeFEAGetVisualShapeFEA (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 physics item. More...
 
void AddCamera (std::shared_ptr< ChCamera > camera)
 Attach a ChCamera to this physical item. More...
 
std::vector< std::shared_ptr< ChCamera > > GetCameras () const
 Get the set of cameras attached to this physics item.
 
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 collsion 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...
 
void UpdateVisualModel ()
 Utility function to update only the associated visual assets (if any).
 
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 lagrangian 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 lagrangian 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, bool full_update)
 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 M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*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 LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
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.
 
virtual std::string & ArchiveContainerName ()
 

Protected Attributes

double tau
 transmission coeff.
 
double r1
 radius of pulley in body 1
 
double r2
 radius of pulley in body 2
 
double phase
 mounting phase angle
 
bool checkphase
 keep pulleys always on phase
 
double a1
 auxiliary, rotation of pulley 1
 
double a2
 auxiliary, rotation of pulley 2
 
double shaft_dist
 distance between shafts
 
ChVector3d belt_up1
 upper segment of belt - end on body1.
 
ChVector3d belt_up2
 upper segment of belt - end on body2.
 
ChVector3d belt_low1
 lower segment of belt - end on body1.
 
ChVector3d belt_low2
 lower segment of belt - end on body2.
 
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
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_model_instance
 instantiated visualization model
 
std::vector< std::shared_ptr< ChCamera > > cameras
 set of cameras
 
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 lagrangian 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
 

Additional Inherited Members

 Type of link-lock.
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 

Member Function Documentation

◆ ArchiveIn()

void chrono::ChLinkLockPulley::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::ChLinkLockLock.

◆ GetFrameShaft1()

const ChFrame<double>& chrono::ChLinkLockPulley::GetFrameShaft1 ( ) const
inline

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

The shaft direction is the Z axis of that frame.

◆ GetFrameShaft2()

const ChFrame<double>& chrono::ChLinkLockPulley::GetFrameShaft2 ( ) const
inline

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

The shaft direction is the Z axis of that frame.

◆ SetEnforcePhase()

void chrono::ChLinkLockPulley::SetEnforcePhase ( bool  mset)
inline

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

By default, it is turned off, but for the simulation of synchro belts, this should be better turned on. 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::ChLinkLockPulley::SetFrameShaft1 ( ChFrame< double >  mf)
inline

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

The shaft direction is the Z axis of that frame. It should be parallel to shaft 2. Note that the origin of shaft position will be automatically shifted along shaft direction in order to have both pulleys on same plane.

◆ SetFrameShaft2()

void chrono::ChLinkLockPulley::SetFrameShaft2 ( ChFrame< double >  mf)
inline

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

The shaft direction is the Z axis of that frame. It should be parallel to shaft 1.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkLockPulley.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkLockPulley.cpp