chrono::ChForce Class Reference
Description
Forces are objects which must be attached to rigid bodies in order to apply torque or force to such body.
ChForce objects are able to represent either forces and torques, depending on a flag.
#include <ChForce.h>
Inheritance diagram for chrono::ChForce:
Collaboration diagram for chrono::ChForce:
Public Types | |
| enum | ForceType { FORCE, TORQUE } |
| Types of force application. | |
| enum | ReferenceFrame { BODY, WORLD } |
| Reference for position frame. | |
| enum | AlignmentFrame { BODY_DIR, WORLD_DIR } |
| Reference for alignment. | |
Public Member Functions | |
| ChForce (const ChForce &other) | |
| virtual ChForce * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| ChBody * | GetBody () |
| Return the parent body (the force belongs to this rigid body) | |
| void | SetBody (ChBody *newRB) |
| Sets the parent body (the force belongs to this rigid body) | |
| void | SetMode (ForceType m_mode) |
| Sets the mode (force or torque) | |
| ForceType | GetMode () const |
| void | SetAlign (AlignmentFrame m_align) |
| Sets the alignment method. More... | |
| AlignmentFrame | GetAlign () const |
| void | SetFrame (ReferenceFrame m_frame) |
| Sets the alignment method. More... | |
| ReferenceFrame | GetFrame () const |
| ChVector3d | GetVpoint () const |
| Gets the application point, in absolute coordinates. | |
| ChVector3d | GetVrelpoint () const |
| Gets the application point, in rigid body coordinates. | |
| void | SetVpoint (ChVector3d mypoint) |
| Sets the application point, in absolute coordinates. | |
| void | SetVrelpoint (ChVector3d myrelpoint) |
| Sets the application point, in rigid body coordinates. | |
| ChVector3d | GetDir () const |
| Gets the force (or torque) direction, in absolute coordinates. | |
| ChVector3d | GetRelDir () const |
| Gets the force (or torque) direction, in rigid body coordinates. | |
| void | SetDir (ChVector3d newf) |
| Sets the force (or torque) direction, in absolute coordinates. | |
| void | SetRelDir (ChVector3d newf) |
| Sets the force (or torque) direction, in rigid body coordinates. | |
| void | SetMforce (double newf) |
| Sets force (or torque) modulus. | |
| double | GetMforce () const |
| Gets force (or torque) modulus. | |
| void | SetModulation (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time-modulation of the force. | |
| std::shared_ptr< ChFunction > | GetModulation () const |
| void | SetMove_x (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time dependency of position (on x axis) | |
| std::shared_ptr< ChFunction > | GetMove_x () const |
| void | SetMove_y (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time dependency of position (on y axis) | |
| std::shared_ptr< ChFunction > | GetMove_y () const |
| void | SetMove_z (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time dependency of position (on z axis) | |
| std::shared_ptr< ChFunction > | GetMove_z () const |
| void | SetF_x (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time dependency of force X component. | |
| std::shared_ptr< ChFunction > | GetF_x () const |
| void | SetF_y (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time dependency of force Y component. | |
| std::shared_ptr< ChFunction > | GetF_y () const |
| void | SetF_z (std::shared_ptr< ChFunction > m_funct) |
| Sets a function for time dependency of force Z component. | |
| std::shared_ptr< ChFunction > | GetF_z () const |
| ChVector3d | GetForce () const |
| Gets the instant force vector -or torque vector- in absolute coordinates. | |
| ChVector3d | GetRelForce () const |
| Gets the instant force vector -or torque vector- in rigid body coordinates. | |
| double | GetForceMod () const |
| Gets the instant force vector -or torque vector- modulus. | |
| const ChVectorN< double, 7 > & | GetQf () const |
| Gets force-torque applied to rigid body, as lagrangian generalized force (7x1 matrix). | |
| void | GetBodyForceTorque (ChVector3d &body_force, ChVector3d &body_torque) const |
| Gets force-torque applied to rigid body, as force vector (in absol.coords) and torque vector (in body coords). | |
| void | UpdateTime (double mytime) |
| void | UpdateState () |
| void | Update (double mytime) |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) override |
| Method to allow deserialization of transient data from archives. | |
 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. | |
| const 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 std::string & | ArchiveContainerName () |
Additional Inherited Members | |
| Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
| 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 | |
Member Function Documentation
◆ SetAlign()
|
inline |
Sets the alignment method.
The force will rotate together with this reference.
◆ SetFrame()
|
inline |
Sets the alignment method.
The force application point will follow this reference.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChForce.h
- /builds/uwsbel/chrono/src/chrono/physics/ChForce.cpp
