chrono::ChFunctionConstAcc Class Reference
Description
Constant acceleration function.
The function consists of three segments:
- constant acceleration (+acc): 0.0 <= x/duration < acceleration1_end
- constant velocity: acceleration1_end <= x/duration < acceleration2_start
- constant deceleration (-acc): acceleration2_start <= x/duration <= 1.0
End of the first acceleration and start of the second acceleration are specified as fractions of the total duration.
The function takes care of computing the acceleration 'acc' so to achieve the desired final displacement in the given duration.
#include <ChFunctionConstAcc.h>
Inheritance diagram for chrono::ChFunctionConstAcc:
Collaboration diagram for chrono::ChFunctionConstAcc:
Public Member Functions | |
| ChFunctionConstAcc (double displacement, double acceleration1_end, double acceleration2_start, double duration) | |
| ChFunctionConstAcc (const ChFunctionConstAcc &other) | |
| virtual ChFunctionConstAcc * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual Type | GetType () const override |
| Return the unique function type identifier. | |
| virtual double | GetVal (double x) const override |
| Return the function output for input x. More... | |
| virtual double | GetDer (double x) const override |
| Return the first derivative of the function. More... | |
| virtual double | GetDer2 (double x) const override |
| Return the second derivative of the function. More... | |
| void | SetDuration (double duration) |
| Set duration of the double acceleration. | |
| void | SetFirstAccelerationEnd (double acceleration1_end) |
| Set the end of the first acceleration ramp, as a fraction of the total duration [0, 1) Must be less than the start of the second acceleration ramp. | |
| void | SetSecondAccelerationStart (double acceleration2_start) |
| Set the start of the second acceleration ramp, as a fraction of the total duration [0, 1) Must be greater than the end of the first acceleration ramp. | |
| void | SetDisplacement (double displacement) |
| Set the desired displacement. More... | |
| void | SetAccelerationPoints (double acceleration1_end, double acceleration2_start) |
| Set the end of the first acceleration ramp and the start of the second acceleration ramp. | |
| double | GetDuration () const |
| Get the duration of the double acceleration. | |
| double | GetFirstAccelerationEnd () const |
| Get the end of the first acceleration ramp, as a fraction of the total duration. | |
| double | GetSecondAccelerationStart () const |
| Get the start of the second acceleration ramp, as a fraction of the total duration. | |
| double | GetDisplacement () const |
| Get the desired displacement. | |
| virtual double | GetPositiveAccelerationCoeff () const override |
| Get the positive acceleration coefficient. | |
| virtual double | GetNegativeAccelerationCoeff () const override |
| Get the negative acceleration coefficient. | |
| virtual double | GetVelocityCoefficient () const override |
| Get the velocity coefficient. | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) override |
| Method to allow de-serialization of transient data from archives. | |
 Public Member Functions inherited from chrono::ChFunction | |
| ChFunction (const ChFunction &other) | |
| virtual double | GetDer3 (double x) const |
| Return the third derivative of the function. More... | |
| virtual double | GetDerN (double x, int der_order) const |
| Return the Nth derivative of the function (up to 3rd derivative). More... | |
| virtual double | GetWeight (double x) const |
| Return the weight of the function. More... | |
| virtual void | Update (double x) |
| Update the function at the provided value of its argument. | |
| virtual double | GetMax (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the maximum of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetMin (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the minimum of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetMean (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the mean of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetSquaredMean (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the squared mean of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetIntegral (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the integral of the function (or its der_order derivative) over the range [xmin, xmax]. More... | |
| virtual void | OutputToASCIIFile (std::ostream &file, double xmin, double xmax, int samples, char delimiter) |
| Store X-Y pairs to an ASCII File. More... | |
| virtual ChMatrixDynamic | SampleUpToDerN (double xmin, double xmax, double step, int derN=0) |
| Sample function on given interval [xmin, xmax], up to derN derivative (0 being the function ouput itself). More... | |
| double | operator() (double arg) const |
| Alias operator of the GetVal function. | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChFunction | |
| enum | Type { BSPLINE, CONSTANT, CONSTACC, CONSTJERK, CUSTOM, CYCLOIDAL, DERIVATIVE, FILLET3, INTEGRAL, INTERP, LAMBDA, MIRROR, OPERATOR, POLY, POLY23, POLY345, RAMP, REPEAT, SEQUENCE, SINE, SINE_STEP } |
| Enumeration of function types. | |
Member Function Documentation
◆ GetDer()
|
overridevirtual |
Return the first derivative of the function.
Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).
Reimplemented from chrono::ChFunction.
◆ GetDer2()
|
overridevirtual |
Return the second derivative of the function.
Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).
Reimplemented from chrono::ChFunction.
◆ GetVal()
|
overridevirtual |
Return the function output for input x.
Must be overridden by specialized classes.
Implements chrono::ChFunction.
◆ SetDisplacement()
|
inline |
Set the desired displacement.
The function will compute the accelerations so to achieve this displacement in the given duration.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionConstAcc.h
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionConstAcc.cpp
