chrono::ChLoadBodyForce Class Reference

Description

Load representing a concentrated force acting on a rigid body.

The force can rotate together with the body (if in body local coordinates) or not. The application point can follow the body (if in body local coordinates) or not. The magnitude of the applied force can be optionally modulated by a function of time. The default modulation is the constant function with value 1.

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyForce:
Collaboration diagram for chrono::ChLoadBodyForce:

Public Member Functions

 ChLoadBodyForce (std::shared_ptr< ChBody > body, const ChVector3d &force, bool local_force, const ChVector3d &point, bool local_point=true)
 
virtual ChLoadBodyForceClone () const override
 "Virtual" copy constructor (covariant return type).
 
void SetForce (const ChVector3d &force, bool is_local)
 Set the constant force vector. More...
 
ChVector3d GetForce () const
 Return the current force vector (scaled by the current modulation value).
 
void SetApplicationPoint (const ChVector3d &point, const bool is_local)
 Set the application point of force, assumed to be constant. More...
 
ChVector3d GetApplicationPoint () const
 Return the location of the application point.
 
void SetModulationFunction (std::shared_ptr< ChFunction > modulation)
 Set modulation function. More...
 
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute the generalized load(s). More...
 
- Public Member Functions inherited from chrono::ChLoadCustom
 ChLoadCustom (std::shared_ptr< ChLoadable > loadable_object)
 
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 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)
 
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 ()
 

Additional Inherited Members

- Public Attributes inherited from chrono::ChLoadCustom
std::shared_ptr< ChLoadableloadable
 
ChVectorDynamic load_Q
 
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 
- 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
 

Constructor & Destructor Documentation

◆ ChLoadBodyForce()

chrono::ChLoadBodyForce::ChLoadBodyForce ( std::shared_ptr< ChBody body,
const ChVector3d force,
bool  local_force,
const ChVector3d point,
bool  local_point = true 
)
Parameters
bodyobject to apply load to
forceforce to apply
local_forceforce is in body local coords
pointapplication point for the force
local_pointapplication point is in body local coords

Member Function Documentation

◆ ComputeQ()

void chrono::ChLoadBodyForce::ComputeQ ( ChState state_x,
ChStateDelta state_w 
)
overridevirtual

Compute the generalized load(s).

Parameters
state_xstate position to evaluate Q
state_wstate speed to evaluate Q

Implements chrono::ChLoadBase.

◆ SetApplicationPoint()

void chrono::ChLoadBodyForce::SetApplicationPoint ( const ChVector3d point,
const bool  is_local 
)

Set the application point of force, assumed to be constant.

It can be expressed in absolute coordinates or body local coordinates

◆ SetForce()

void chrono::ChLoadBodyForce::SetForce ( const ChVector3d force,
bool  is_local 
)

Set the constant force vector.

It can be expressed in absolute coordinates or body local coordinates. This value is optionally modulated by a function of time.

◆ SetModulationFunction()

void chrono::ChLoadBodyForce::SetModulationFunction ( std::shared_ptr< ChFunction modulation)
inline

Set modulation function.

This is a function of time which (optionally) modulates the specified applied force. By default the modulation is a constant function, always returning a value of 1.


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