chrono::ChAssemblyAnalysis Class Reference

## Description

Class for assembly analysis.

Assembly is performed by satisfying constraints at a position, velocity, and acceleration levels. Assembly at position level involves solving a non-linear problem. Assembly at velocity level is performed by taking a small integration step. Consistent accelerations are obtained through finite differencing.

#include <ChAssemblyAnalysis.h>

Collaboration diagram for chrono::ChAssemblyAnalysis:

## Public Member Functions

ChAssemblyAnalysis (ChIntegrableIIorder &mintegrable)

void AssemblyAnalysis (int action, double dt=1e-7)
Perform the assembly analysis. More...

void SetMaxAssemblyIters (int mi)
Set the max number of Newton-Raphson iterations for the position assembly procedure.

int GetMaxAssemblyIters ()
Get the max number of Newton-Raphson iterations for the position assembly procedure.

ChIntegrableGetIntegrable ()
Get the integrable object.

const ChVectorDynamicget_L () const
Access the Lagrange multipliers.

const ChStateget_X () const
Access the current position state vector.

const ChStateDeltaget_V () const
Access the current velocity state vector.

const ChStateDeltaget_A () const
Access the current acceleration state vector.

## Protected Attributes

ChIntegrableIIorderintegrable

ChState X

ChStateDelta V

ChStateDelta A

ChVectorDynamic L

int max_assembly_iters

## Member Function Documentation

 void chrono::ChAssemblyAnalysis::AssemblyAnalysis ( int action, double dt = 1e-7 )

Perform the assembly analysis.

Assembly is performed by satisfying constraints at a position, velocity, and acceleration levels. Assembly at position level involves solving a non-linear problem. Assembly at velocity level is performed by taking a small integration step. Consistent accelerations are obtained through finite differencing.