chrono::ChLoadBodyTorque Class Reference


TORQUE ON A RIGID BODY Loader for a constant torque applied at a ChBody.

Torque direction does not rotate with the body.

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyTorque:
Collaboration diagram for chrono::ChLoadBodyTorque:

Public Member Functions

 ChLoadBodyTorque (std::shared_ptr< ChBody > mbody, const ChVector<> torque, bool mlocal_torque)
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 SetTorque (const ChVector<> &mf)
 Set force (ex. in [N] units), assumed to be constant in space and time.
ChVector GetTorque () 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

Constructor & Destructor Documentation

chrono::ChLoadBodyTorque::ChLoadBodyTorque ( std::shared_ptr< ChBody mbody,
const ChVector<>  torque,
bool  mlocal_torque 
mbodyobject to apply load to
torquetorque to apply
mlocal_torquetorque is in body local coords

Member Function Documentation

virtual void chrono::ChLoadBodyTorque::ComputeQ ( ChState state_x,
ChStateDelta state_w 

Compute Q, the generalized load.

Called automatically at each Update().

state_xstate position to evaluate Q
state_wstate speed to evaluate Q

Implements chrono::ChLoadCustom.

virtual bool chrono::ChLoadBodyTorque::IsStiff ( )

Return true if stiff load.


Implements chrono::ChLoadCustom.