chrono::ChFunctionRotationAxis Class Reference

## Description

A rotation function q=f(s) where q(s) is defined with axis V and angle alpha, assuming fixed axis of rotation V and a angle of rotation alpha about that axis, expressed with a ChFunction object alpha=alpha(s).

By default, the axis is the Z axis, and rotation is constant zero rotation.

`#include <ChFunctionRotationAxis.h>`

Inheritance diagram for chrono::ChFunctionRotationAxis:

Collaboration diagram for chrono::ChFunctionRotationAxis:

## Public Member Functions | |

ChFunctionRotationAxis (const ChFunctionRotationAxis &other) | |

virtual ChFunctionRotationAxis * | Clone () const override |

"Virtual" copy constructor. | |

void | SetFunctionAngle (std::shared_ptr< ChFunction > mx) |

Set the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians. | |

std::shared_ptr< ChFunction > | GetFunctionAngle () |

Get the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians. | |

void | SetAxis (const ChVector3d &mv) |

Set the fixed axis of rotation. It must be unit length. Default Z vector. | |

ChVector3d | GetAxis () |

Get the fixed axis of rotation. | |

virtual ChQuaternion | GetQuat (double s) const override |

Return the rotation as a quaternion, function of s, as q=f(s). | |

virtual ChVector3d | GetAngVel (double s) const override |

Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame. | |

virtual ChVector3d | GetAngAcc (double s) const override |

Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame. | |

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::ChFunctionRotation | |

ChFunctionRotation (const ChFunctionRotation &other) | |

virtual void | Update (double t) |

Update could be implemented by children classes, ex. to launch callbacks. | |

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

- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionRotationAxis.h
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionRotationAxis.cpp