chrono::ChLoadBodyForce Class Reference

Description

FORCE ON A RIGID BODY Load for a constant force applied at a ChBody.

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.

#include <ChLoadsBody.h>

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

Public Member Functions

 ChLoadBodyForce (std::shared_ptr< ChBody > mbody, const ChVector<> mforce, bool mlocal_force, const ChVector<> mapplication, bool mlocal_application=true)
 
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w)
 Compute Q, the generalized load. More...
 
virtual bool IsStiff ()
 Return true if stiff load. More...
 
void SetForce (const ChVector<> &mf, const bool is_local)
 Set force (ex. More...
 
ChVector GetForce () const
 
void SetApplicationPoint (const ChVector<> &ma, const bool is_local)
 Set the application point of force, assumed to be constant. More...
 
ChVector GetApplicationPoint () const
 
- Public Member Functions inherited from chrono::ChLoadCustom
 ChLoadCustom (std::shared_ptr< ChLoadable > mloadable)
 
virtual int LoadGet_ndof_x ()
 Gets the number of DOFs affected by this load (position part)
 
virtual int LoadGet_ndof_w ()
 Gets the number of DOFs affected by this load (speed part)
 
virtual void LoadGetStateBlock_x (ChState &mD)
 Gets all the current DOFs packed in a single vector (position part)
 
virtual void LoadGetStateBlock_w (ChStateDelta &mD)
 Gets all the current DOFs packed in a single vector (speed part)
 
virtual void LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new)
 Increment a packed state (ex. More...
 
virtual int LoadGet_field_ncoords ()
 Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, = 1 for a thermal problem, etc. More...
 
virtual void ComputeJacobian (ChState *state_x, ChStateDelta *state_w, ChMatrix<> &mK, ChMatrix<> &mR, ChMatrix<> &mM)
 Compute jacobians (default fallback). More...
 
virtual void LoadIntLoadResidual_F (ChVectorDynamic<> &R, const double c)
 Adds the internal loads Q (pasted at global nodes offsets) into a global vector R, multiplied by a scaling factor c, as R += forces * c.
 
virtual void CreateJacobianMatrices ()
 Create the jacobian loads if needed, and also set the ChVariables referenced by the sparse KRM block. More...
 
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 ()
 Update: this is called at least at each time step. More...
 
virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are item(s) of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but inherited classes must specialize this. More...
 
virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)
 Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...
 

Additional Inherited Members

- Public Attributes inherited from chrono::ChLoadCustom
std::shared_ptr< ChLoadableloadable
 
ChVectorDynamic load_Q
 
- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansjacobians
 

Constructor & Destructor Documentation

chrono::ChLoadBodyForce::ChLoadBodyForce ( std::shared_ptr< ChBody mbody,
const ChVector<>  mforce,
bool  mlocal_force,
const ChVector<>  mapplication,
bool  mlocal_application = true 
)
Parameters
mbodyobject to apply load to
mforceforce to apply
mlocal_forceforce is in body local coords
mapplicationapplication point for the force
mlocal_applicationapplication point is in body local coords

Member Function Documentation

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

Compute Q, the generalized load.

Called automatically at each Update().

Parameters
state_xstate position to evaluate Q
state_wstate speed to evaluate Q

Implements chrono::ChLoadCustom.

virtual bool chrono::ChLoadBodyForce::IsStiff ( )
virtual

Return true if stiff load.

MUST BE LOAD BY CHILDREN CLASSES!!!

Implements chrono::ChLoadCustom.

void chrono::ChLoadBodyForce::SetApplicationPoint ( const ChVector<> &  ma,
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

void chrono::ChLoadBodyForce::SetForce ( const ChVector<> &  mf,
const bool  is_local 
)

Set force (ex.

in [N] units), assumed to be constant. It can be expressed in absolute coordinates or body local coordinates