Description

Load representing a torque applied to a rigid body.

Torque direction does not rotate with the body. The magnitude of the applied torque can be optionally modulated by a function of time. The default modulation is the constant function with value 1.

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyTorque:

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Collaboration diagram for chrono::ChLoadBodyTorque:

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Public Member Functions
	ChLoadBodyTorque (std::shared_ptr< ChBody > body, const ChVector3d &torque, bool local_torque)

virtual ChLoadBodyTorque *	Clone () const override
	"Virtual" copy constructor (covariant return type).

void	SetTorque (const ChVector3d &torque, bool is_local)
	Set the constant torque vector. More...

ChVector3d	GetTorque () const
	Return the current torque vector (scaled by the current modulation value).

void	SetModulationFunction (std::shared_ptr< ChFunction > modulation)
	Set modulation function. More...

virtual void	ComputeQ (ChState state_x, ChStateDelta state_w) override
	Compute the generalized load(s). More...

Public Member Functions inherited from chrono::ChLoadCustom
	ChLoadCustom (std::shared_ptr< ChLoadable > loadable_object)

virtual int	LoadGetNumCoordsPosLevel () override
	Gets the number of DOFs affected by this load (position part).

virtual int	LoadGetNumCoordsVelLevel () override
	Gets the number of DOFs affected by this load (speed part).

virtual void	LoadGetStateBlock_x (ChState &mD) override
	Gets all the current DOFs packed in a single vector (position part).

virtual void	LoadGetStateBlock_w (ChStateDelta &mD) override
	Gets all the current DOFs packed in a single vector (speed part).

virtual void	LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
	Increment a packed state (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More...

virtual int	LoadGetNumFieldCoords () override
	Number of coordinates in the interpolated field. More...

virtual void	ComputeJacobian (ChState state_x, ChStateDelta state_w) override
	Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More...

virtual void	LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override
	Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More...

virtual void	LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override
	Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More...

virtual void	LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override
	Add the lumped mass to an Md vector, representing a mass diagonal matrix. More...

virtual void	CreateJacobianMatrices () override
	Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block.

virtual ChVectorDynamic &	GetQ ()
	Access the generalized load vector Q.

Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobians *	GetJacobians ()
	Access the Jacobians (if any, i.e. if this is a stiff load).

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this object. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a camera to this object. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this object.

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

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.

virtual std::string &	ArchiveContainerName ()

Additional Inherited Members
Public Attributes inherited from chrono::ChLoadCustom
std::shared_ptr< ChLoadable >	loadable

ChVectorDynamic	load_Q

Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobians *	m_jacobians

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

Constructor & Destructor Documentation

◆ ChLoadBodyTorque()

chrono::ChLoadBodyTorque::ChLoadBodyTorque	(	std::shared_ptr< ChBody >	body,
		const ChVector3d &	torque,
		bool	local_torque
	)

Parameters

body	object to apply load to
torque	torque to apply
local_torque	torque is in body local coords

Member Function Documentation

◆ ComputeQ()

void chrono::ChLoadBodyTorque::ComputeQ	(	ChState *	state_x,
		ChStateDelta *	state_w
	)

overridevirtual

Compute the generalized load(s).

Parameters

state_x	state position to evaluate Q
state_w	state speed to evaluate Q

Implements chrono::ChLoadBase.

◆ SetModulationFunction()

void chrono::ChLoadBodyTorque::SetModulationFunction ( std::shared_ptr< ChFunction > modulation )

inline

Set modulation function.

This is a function of time which (optionally) modulates the specified applied force. By default the modulation is a constant function, always returning a value of 1.

◆ SetTorque()

void chrono::ChLoadBodyTorque::SetTorque	(	const ChVector3d &	torque,
		bool	is_local
	)

Set the constant torque vector.

This value is optionally modulated by a function of time.

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

/builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.h
/builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.cpp