chrono::ChConstraintTuple_3vars< T > Class Template Reference

Description

template<class T>
class chrono::ChConstraintTuple_3vars< T >

Case of tuple with reference to 3 ChVariable objects:

#include <ChConstraintTuple.h>

Collaboration diagram for chrono::ChConstraintTuple_3vars< T >:

Public Member Functions

 ChConstraintTuple_3vars ()
 Default constructor.
 
 ChConstraintTuple_3vars (const ChConstraintTuple_3vars &other)
 Copy constructor.
 
ChConstraintTuple_3varsoperator= (const ChConstraintTuple_3vars &other)
 Assignment operator: copy from other object.
 
ChMatrix< double > * Get_Cq_1 ()
 
ChMatrix< double > * Get_Cq_2 ()
 
ChMatrix< double > * Get_Cq_3 ()
 
ChMatrix< double > * Get_Eq_1 ()
 
ChMatrix< double > * Get_Eq_2 ()
 
ChMatrix< double > * Get_Eq_3 ()
 
ChVariablesGetVariables_1 ()
 
ChVariablesGetVariables_2 ()
 
ChVariablesGetVariables_3 ()
 
void SetVariables (T &m_tuple_carrier)
 
void Update_auxiliary (double &g_i)
 
double Compute_Cq_q ()
 
void Increment_q (const double deltal)
 
void MultiplyAndAdd (double &result, const ChMatrix< double > &vect) const
 
void MultiplyTandAdd (ChMatrix< double > &result, double l)
 
void Build_Cq (ChSparseMatrix &storage, int insrow)
 
void Build_CqT (ChSparseMatrix &storage, int inscol)
 

Protected Attributes

ChVariablesvariables_1
 
ChVariablesvariables_2
 
ChVariablesvariables_3
 
ChMatrixNM< double, 1, T::nvars1 > Cq_1
 The [Cq] jacobian of the constraint, split in horizontal chunks.
 
ChMatrixNM< double, 1, T::nvars2 > Cq_2
 
ChMatrixNM< double, 1, T::nvars3 > Cq_3
 
ChMatrixNM< double, T::nvars1, 1 > Eq_1
 The [Eq] product [Eq]=[invM]*[Cq]' , split in horizontal chunks.
 
ChMatrixNM< double, T::nvars2, 1 > Eq_2
 
ChMatrixNM< double, T::nvars3, 1 > Eq_3