chrono::fea::ChLoadXYZROTnodeXYZROTnode Class Referenceabstract

Description

Base class for loads representing a concentrated wrench (force & torque) acting between two ChNodeFEAxyzrot.

The force & torque is applied between two local references attached to the two nodes, loc_application_A and loc_application_B, not necessarily centered in the respective nodes. Users should inherit from this and implement a custom ComputeForceTorque(), this is enough to have the load working. Note: there are already some predefined examples, ie. children classes with common concrete implementations, such as ChLoadXYZROTnodeXYZROTnodeBushingSpherical ChLoadXYZROTnodeXYZROTnodeBushingMate, etc.; take inspiration from those example to inherit your own load if they are not enough.

#include <ChLoadsXYZROTnode.h>

Inheritance diagram for chrono::fea::ChLoadXYZROTnodeXYZROTnode:
Collaboration diagram for chrono::fea::ChLoadXYZROTnodeXYZROTnode:

Public Member Functions

 ChLoadXYZROTnodeXYZROTnode (std::shared_ptr< ChNodeFEAxyzrot > mnodeA, std::shared_ptr< ChNodeFEAxyzrot > mnodeB, const ChFrame<> &abs_application)
 
virtual void ComputeForceTorque (const ChFrameMoving<> &rel_AB, ChVector<> &loc_force, ChVector<> &loc_torque)=0
 Compute the wrench (force & torque) between the two nodes, expressed in local frame of loc_application_B, given rel_AB, i.e. More...
 
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute Q, the generalized load. More...
 
ChVector GetForce () const
 For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to body B.
 
ChVector GetTorque () const
 For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in coordinate system of loc_application_B, assumed applied to body B.
 
void SetApplicationFrameA (const ChFrame<> &mpA)
 Set the application frame of bushing on bodyA.
 
ChFrame GetApplicationFrameA () const
 
void SetApplicationFrameB (const ChFrame<> &mpB)
 Set the application frame of bushing on bodyB.
 
ChFrame GetApplicationFrameB () const
 
ChFrameMoving GetAbsoluteFrameA () const
 Get absolute coordinate of frame A (last computed)
 
ChFrameMoving GetAbsoluteFrameB () const
 Get absolute coordinate of frame B (last computed)
 
std::shared_ptr< ChNodeFEAxyzrotGetNodeA () const
 
std::shared_ptr< ChNodeFEAxyzrotGetNodeB () const
 
- Public Member Functions inherited from chrono::ChLoadCustomMultiple
 ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &mloadables)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB, std::shared_ptr< ChLoadable > mloadableC)
 
virtual int LoadGet_ndof_x () override
 Gets the number of DOFs affected by this load (position part)
 
virtual int LoadGet_ndof_w () 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 (ex. More...
 
virtual int LoadGet_field_ncoords () override
 Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, = 1 for a thermal problem, etc.
 
virtual void ComputeJacobian (ChState *state_x, ChStateDelta *state_w, ChMatrixRef mK, ChMatrixRef mR, ChMatrixRef mM) override
 Compute jacobians (default fallback). More...
 
virtual void LoadIntLoadResidual_F (ChVectorDynamic<> &R, const double c) override
 Adds the internal loads Q (pasted at global nodes offsets) into a global vector R, multiplied by a scaling factor c, as R += forces * c.
 
virtual void LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
 Default fallback: compute jacobians via ComputeJacobian(), then use M=-dQ/da to do R += c*M*w. More...
 
virtual void CreateJacobianMatrices () override
 Create the jacobian loads if needed, and also set the ChVariables referenced by the sparse KRM block.
 
virtual ChVectorDynamicGetQ ()
 Access the generalized load vector Q.
 
- Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobiansGetJacobians ()
 Access the jacobians (if any, i.e. if this is a stiff load)
 
virtual void Update (double time)
 Update: this is called at least at each time step. More...
 
virtual bool IsStiff ()=0
 Report if this is load is stiff. More...
 
virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are item(s) of type ChKblock in this object (for further passing it to a solver)
 
virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)
 Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
virtual ChObjClone () const =0
 "Virtual" copy constructor. More...
 
int GetIdentifier () const
 Gets the numerical identifier of the object.
 
void SetIdentifier (int id)
 Sets the numerical identifier of the object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
const char * GetName () const
 Gets the name of the object as C Ascii null-terminated string -for reading only!
 
void SetName (const char myname[])
 Sets the name of this object, as ascii string.
 
std::string GetNameString () const
 Gets the name of the object as C Ascii null-terminated string.
 
void SetNameString (const std::string &myname)
 Sets the name of this object, as std::string.
 
void MFlagsSetAllOFF (int &mflag)
 
void MFlagsSetAllON (int &mflag)
 
void MFlagSetON (int &mflag, int mask)
 
void MFlagSetOFF (int &mflag, int mask)
 
int MFlagGet (int &mflag, int mask)
 
virtual void ArchiveOUT (ChArchiveOut &marchive)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive)
 Method to allow de-serialization of transient data from archives.
 
virtual std::string & ArchiveContainerName ()
 

Protected Attributes

ChFrame loc_application_A
 application point on body A (local)
 
ChFrame loc_application_B
 application point on body B (local)
 
ChVector locB_force
 store computed values here
 
ChVector locB_torque
 store computed values here
 
ChFrameMoving frame_Aw
 for results
 
ChFrameMoving frame_Bw
 for results
 
- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansjacobians
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 the time of simulation for the object
 

Additional Inherited Members

- Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > > loadables
 
ChVectorDynamic load_Q
 

Constructor & Destructor Documentation

◆ ChLoadXYZROTnodeXYZROTnode()

chrono::fea::ChLoadXYZROTnodeXYZROTnode::ChLoadXYZROTnodeXYZROTnode ( std::shared_ptr< ChNodeFEAxyzrot mnodeA,
std::shared_ptr< ChNodeFEAxyzrot mnodeB,
const ChFrame<> &  abs_application 
)
Parameters
mnodeAnode A to apply load to
mnodeBnode B to apply load to, as reaction
abs_applicationlocation of load element (in abs. coordinates)

Member Function Documentation

◆ ComputeForceTorque()

virtual void chrono::fea::ChLoadXYZROTnodeXYZROTnode::ComputeForceTorque ( const ChFrameMoving<> &  rel_AB,
ChVector<> &  loc_force,
ChVector<> &  loc_torque 
)
pure virtual

Compute the wrench (force & torque) between the two nodes, expressed in local frame of loc_application_B, given rel_AB, i.e.

the position and speed of loc_application_A respect to loc_application_B, expressed in frame of loc_application_B. Force is assumed applied to loc_application_B, and its opposite reaction to A. Inherited classes MUST IMPLEMENT THIS.

Implemented in chrono::fea::ChLoadXYZROTnodeXYZROTnodeBushingGeneric, chrono::fea::ChLoadXYZROTnodeXYZROTnodeBushingMate, chrono::fea::ChLoadXYZROTnodeXYZROTnodeBushingPlastic, and chrono::fea::ChLoadXYZROTnodeXYZROTnodeBushingSpherical.

◆ ComputeQ()

void chrono::fea::ChLoadXYZROTnodeXYZROTnode::ComputeQ ( ChState state_x,
ChStateDelta state_w 
)
overridevirtual

Compute Q, the generalized load.

Called automatically at each Update().

Parameters
state_xstate position to evaluate Q
state_wstate speed to evaluate Q

Implements chrono::ChLoadBase.


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