Description
Load representing a concentrated force acting on a ChNodeXYZ, as a constant force, or it provides a function to modulate it with time.
As it is constant in space, IsStiff() is false, as default.
#include <ChLoadsXYZROTnode.h>
Public Member Functions | |
ChLoadXYZROTnodeForceAbsolute (std::shared_ptr< ChNodeFEAxyzrot > node, const ChVector3d &force) | |
virtual ChLoadXYZROTnodeForceAbsolute * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
virtual void | ComputeForceTorque (const ChFrameMoving<> &node_frame_abs_pos_vel, ChVector3d &abs_force, ChVector3d &abs_torque) override |
Compute the force on the node, in absolute coordsystem, given absolute position and speed of node passed via node_frame_abs_pos_vel. More... | |
void | SetForceBase (const ChVector3d &force) |
Set the applied force vector: it is assumed constant, unless a non-constant scaling time function is provided. More... | |
ChVector3d | GetForce () const |
Return the current force vector (scaled by the current modulation value). | |
void | SetModulationFunction (std::shared_ptr< ChFunction > modulation) |
Set modulation function. More... | |
Public Member Functions inherited from chrono::fea::ChLoadXYZROTnode | |
ChLoadXYZROTnode (std::shared_ptr< ChNodeFEAxyzrot > body) | |
virtual void | ComputeQ (ChState *state_x, ChStateDelta *state_w) override |
Compute Q, the generalized load. More... | |
ChVector3d | GetForce () const |
For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in absolute coordinate system, assumed applied to node. | |
ChVector3d | GetTorque () const |
For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in absolute coordinate system, assumed applied to node. | |
Public Member Functions inherited from chrono::ChLoadCustom | |
ChLoadCustom (std::shared_ptr< ChLoadable > loadable_object) | |
virtual int | LoadGetNumCoordsPosLevel () override |
Gets the number of DOFs affected by this load (position part). | |
virtual int | LoadGetNumCoordsVelLevel () override |
Gets the number of DOFs affected by this load (speed part). | |
virtual void | LoadGetStateBlock_x (ChState &mD) override |
Gets all the current DOFs packed in a single vector (position part). | |
virtual void | LoadGetStateBlock_w (ChStateDelta &mD) override |
Gets all the current DOFs packed in a single vector (speed part). | |
virtual void | LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
Increment a packed state (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More... | |
virtual int | LoadGetNumFieldCoords () override |
Number of coordinates in the interpolated field. More... | |
virtual void | ComputeJacobian (ChState *state_x, ChStateDelta *state_w) override |
Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More... | |
virtual void | LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override |
Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More... | |
virtual void | LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override |
Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More... | |
virtual void | LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override |
Add the lumped mass to an Md vector, representing a mass diagonal matrix. More... | |
virtual void | CreateJacobianMatrices () override |
Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block. | |
virtual ChVectorDynamic & | GetQ () |
Access the generalized load vector Q. | |
Public Member Functions inherited from chrono::ChLoadBase | |
ChLoadJacobians * | GetJacobians () |
Access the Jacobians (if any, i.e. if this is a stiff load). | |
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... | |
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. | |
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 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. | |
virtual std::string & | ArchiveContainerName () |
Protected Member Functions | |
virtual bool | IsStiff () override |
Inherited classes could override this and return true, if the load benefits from a Jacobian when using implicit integrators. | |
virtual void | Update (double time) override |
Update, called at least at each time step. More... | |
Protected Member Functions inherited from chrono::ChObj | |
int | GenerateUniqueIdentifier () |
Protected Attributes | |
ChVector3d | m_force_base |
base force value | |
std::shared_ptr< ChFunction > | m_modulation |
modulation function of time | |
double | m_scale |
scaling factor (current modulation value) | |
Protected Attributes inherited from chrono::fea::ChLoadXYZROTnode | |
ChVector3d | computed_abs_force |
ChVector3d | computed_abs_torque |
Protected Attributes inherited from chrono::ChLoadBase | |
ChLoadJacobians * | m_jacobians |
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 | |
Public Attributes inherited from chrono::ChLoadCustom | |
std::shared_ptr< ChLoadable > | loadable |
ChVectorDynamic | load_Q |
Constructor & Destructor Documentation
◆ ChLoadXYZROTnodeForceAbsolute()
chrono::fea::ChLoadXYZROTnodeForceAbsolute::ChLoadXYZROTnodeForceAbsolute | ( | std::shared_ptr< ChNodeFEAxyzrot > | node, |
const ChVector3d & | force | ||
) |
- Parameters
-
node node to apply load to force applied force in absolute coordsys
Member Function Documentation
◆ ComputeForceTorque()
|
overridevirtual |
Compute the force on the node, in absolute coordsystem, given absolute position and speed of node passed via node_frame_abs_pos_vel.
Compute the force on the node, in absolute coordsystem, given position of node as abs_pos.
Implements chrono::fea::ChLoadXYZROTnode.
◆ SetForceBase()
void chrono::fea::ChLoadXYZROTnodeForceAbsolute::SetForceBase | ( | const ChVector3d & | force | ) |
Set the applied force vector: it is assumed constant, unless a non-constant scaling time function is provided.
It is expressed in absolute coordinates.
◆ SetModulationFunction()
|
inline |
Set modulation function.
This is a function of time which (optionally) modulates the specified applied force. By default the modulation is a constant function, always returning a value of 1.
◆ Update()
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overrideprotectedvirtual |
Update, called at least at each time step.
- It recomputes the generalized load Q vector(s)
- It recomputes the Jacobian matrices K,R,M in case of stiff load Q and Jacobians assumed evaluated at the current state. Jacobians are automatically allocated if needed.
Reimplemented from chrono::fea::ChLoadXYZROTnode.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/fea/ChLoadsXYZROTnode.h
- /builds/uwsbel/chrono/src/chrono/fea/ChLoadsXYZROTnode.cpp