Description

Interface base class for scalar->quaternion functions of the type:

q= f(s)

where q is a unit quaternion (i.e. a rotation in 3D) and s is a scalar (ex. time) Inherited classes must override at least the GetQuat() method.

#include <ChFunctionRotation.h>

Inheritance diagram for chrono::ChFunctionRotation:

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Public Member Functions
	ChFunctionRotation (const ChFunctionRotation &other)

virtual ChFunctionRotation *	Clone () const =0
	"Virtual" copy constructor.

virtual ChQuaternion	GetQuat (double s) const =0
	Return the rotation as a quaternion, function of s, as q=f(s).

virtual ChVector3d	GetAngVel (double s) const
	Return the angular velocity in local frame. More...

virtual ChVector3d	GetAngAcc (double s) const
	Return the angular acceleration in local frame. More...

virtual void	Update (double t)
	Update could be implemented by children classes, ex. to launch callbacks.

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.

Member Function Documentation

◆ GetAngAcc()

ChVector3d chrono::ChFunctionRotation::GetAngAcc ( double s ) const

virtual

Return the angular acceleration in local frame.

Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).

Reimplemented in chrono::ChFunctionRotationSetpoint, and chrono::ChFunctionRotationAxis.

◆ GetAngVel()

ChVector3d chrono::ChFunctionRotation::GetAngVel ( double s ) const