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.