chrono::ChConstraintTuple_1vars< T > Class Template Reference

Description

template<class T>
class chrono::ChConstraintTuple_1vars< T >

This is a container for 'half' of a constraint, and contains a tuple of 1 or 2 or 3 differently-sized jacobian chunks.

For instance, this might happen because you want a constraint between an edge (i.e. two xyz variables, each per end nodes) and a triangle face (i.e. three xyz variables, each per corner), so the jacobian row matrix is split in 2 + 3 chunks, here as two tuples. The complete constraint, ChConstraintTwoTuples, will use two of these classes. Template T is a class of ChVariableTupleCarrier_Nvars type

#include <ChConstraintTuple.h>

Collaboration diagram for chrono::ChConstraintTuple_1vars< T >:

Public Member Functions
	ChConstraintTuple_1vars ()
	Default constructor.
	ChConstraintTuple_1vars (const ChConstraintTuple_1vars &other)
	Copy constructor.
ChConstraintTuple_1vars &	operator= (const ChConstraintTuple_1vars &other)
	Assignment operator: copy from other object.
ChRowVectorRef	Get_Cq ()
ChVectorRef	Get_Eq ()
ChVariables *	GetVariables ()
void	SetVariables (T &m_tuple_carrier)
void	Update_auxiliary (double &g_i)
double	ComputeJacobianTimesState ()
void	IncrementState (double deltal)
void	AddJacobianTimesVectorInto (double &result, ChVectorConstRef vect) const
void	AddJacobianTransposedTimesScalarInto (ChVectorRef result, double l) const
void	PasteJacobianInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const
void	PasteJacobianTransposedInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const

Protected Attributes
ChVariables *	variables
	The constrained object.
ChRowVectorN< double, T::nvars1 >	Cq
	The [Cq] jacobian of the constraint.
ChVectorN< double, T::nvars1 >	Eq
	The [Eq] product [Eq]=[invM]*[Cq]'.

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The documentation for this class was generated from the following file:

• /builds/uwsbel/chrono/src/chrono/solver/ChConstraintTuple.h