Description

Base class for wrench loads (a force + a torque) acting between two bodies.

See children classes for concrete implementations.

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyBody:
Collaboration diagram for chrono::ChLoadBodyBody:

Public Member Functions

 ChLoadBodyBody (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application)
 
virtual void ComputeBodyBodyForceTorque (const ChFrameMoving<> &rel_AB, ChVector3d &loc_force, ChVector3d &loc_torque)=0
 Compute the force between the two bodies, in local reference loc_application_B, given rel_AB, i.e. More...
 
ChVector3d 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.
 
ChVector3d 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< ChBodyGetBodyA () const
 
std::shared_ptr< ChBodyGetBodyB () const
 
- Public Member Functions inherited from chrono::ChLoadCustomMultiple
 ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &loadable_objects)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC)
 
virtual int LoadGetNumCoordsPosLevel () override
 Gets the number of DOFs affected by this load (position part).
 
virtual int LoadGetNumCoordsVelLevel () 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 (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More...
 
virtual int LoadGetNumFieldCoords () override
 Number of coordinates in the interpolated field. More...
 
virtual void ComputeJacobian (ChState *state_x, ChStateDelta *state_w) override
 Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More...
 
virtual void LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override
 Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More...
 
virtual void LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override
 Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More...
 
virtual void LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override
 Add the lumped mass to an Md vector, representing a mass diagonal matrix. More...
 
virtual void CreateJacobianMatrices () override
 Create the Jacobian loads if needed and 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, called at least at each time step. More...
 
virtual bool IsStiff ()=0
 Report if this is load is stiff. More...
 
virtual void InjectKRMMatrices (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChKRMBlock objects associated with this item.
 
virtual void LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
virtual ChObjClone () const =0
 "Virtual" copy constructor.
 
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 void ArchiveOut (ChArchiveOut &archive_out)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in)
 Method to allow de-serialization of transient data from archives.
 
virtual std::string & ArchiveContainerName ()
 

Protected Member Functions

virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute the generalized load(s). More...
 
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 

Protected Attributes

ChFrame loc_application_A
 application point on body A (local)
 
ChFrame loc_application_B
 application point on body B (local)
 
ChVector3d locB_force
 store computed values here
 
ChVector3d locB_torque
 store computed values here
 
ChFrameMoving frame_Aw
 for results
 
ChFrameMoving frame_Bw
 for results
 
- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansm_jacobians
 
- 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
 

Additional Inherited Members

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

Constructor & Destructor Documentation

◆ ChLoadBodyBody()

chrono::ChLoadBodyBody::ChLoadBodyBody ( std::shared_ptr< ChBody bodyA,
std::shared_ptr< ChBody bodyB,
const ChFrame<> &  abs_application 
)
Parameters
bodyAbody A
bodyBbody B
abs_applicationlocation of load element (in abs. coordinates)

Member Function Documentation

◆ ComputeBodyBodyForceTorque()

virtual void chrono::ChLoadBodyBody::ComputeBodyBodyForceTorque ( const ChFrameMoving<> &  rel_AB,
ChVector3d loc_force,
ChVector3d loc_torque 
)
pure virtual

Compute the force between the two bodies, in local reference loc_application_B, given rel_AB, i.e.

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

Implemented in chrono::ChLoadBodyBodyBushingGeneric, chrono::ChLoadBodyBodyBushingMate, chrono::ChLoadBodyBodyBushingPlastic, and chrono::ChLoadBodyBodyBushingSpherical.

◆ ComputeQ()

void chrono::ChLoadBodyBody::ComputeQ ( ChState state_x,
ChStateDelta state_w 
)
overrideprotectedvirtual

Compute the generalized load(s).

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/physics/ChLoadsBody.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.cpp