Description

Load representing a spring between a ChNodeXYZ and a ChBody.

The anchoring to body can be set via SetApplicationFrameB().

#include <ChLoadsNodeXYZ.h>

Inheritance diagram for chrono::ChLoadNodeXYZBodySpring:

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Collaboration diagram for chrono::ChLoadNodeXYZBodySpring:

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Public Member Functions
	ChLoadNodeXYZBodySpring (std::shared_ptr< ChNodeXYZ > mnodeA, std::shared_ptr< ChBody > mbodyB, double stiffness, double damping, double rest_length=0)

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

virtual void	ComputeForce (const ChFrameMoving<> &rel_AB, ChVector3d &loc_force) override
	Compute the force on the nodeA, in local coord system, given relative position of nodeA respect to B. More...

void	SetStiffness (const double stiffness)
	Set stiffness, along direction.

double	GetStiffness () const

void	SetDamping (const double damping)
	Set damping, along direction.

double	GetDamping () const

void	SetRestLength (const double mrest)
	Set initial spring length.

double	GetRestLength () const

void	SetStiff (bool ms)
	Declare this load as stiff or non-stiff. More...

Public Member Functions inherited from chrono::ChLoadNodeXYZBody
	ChLoadNodeXYZBody (std::shared_ptr< ChNodeXYZ > node, std::shared_ptr< ChBody > body)

ChVector3d	GetForce () const
	Return the last computed value of the applied force. More...

void	SetApplicationFrameB (const ChFrame<> &application_frame)
	Set the application frame of load on body.

ChFrame	GetApplicationFrameB () const
	Get the application frame of load on body.

ChFrameMoving	GetAbsoluteFrameB () const
	Get absolute coordinate of body frame (last computed).

std::shared_ptr< ChNodeXYZ >	GetNode () const

std::shared_ptr< ChBody >	GetBody () const

Public Member Functions inherited from chrono::ChLoadCustomMultiple
	ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &loadable_objects)

	ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB)

	ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC)

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	Update (double time)
	Update, called at least at each time step. More...

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.

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 ()

Protected Member Functions
virtual bool	IsStiff () override
	Report if this is load is stiff. More...

Protected Member Functions inherited from chrono::ChLoadNodeXYZBody
virtual void	ComputeQ (ChState state_x, ChStateDelta state_w) override
	Compute Q, the generalized load. More...

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

Protected Attributes
double	K

double	R

double	d0

bool	is_stiff

Protected Attributes inherited from chrono::ChLoadNodeXYZBody
ChFrame	loc_application_B
	application point on body B (local)

ChVector3d	computed_loc_force
	store computed values here

ChFrameMoving	frame_Aw
	for results

ChFrameMoving	frame_Bw
	for results

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

Additional Inherited Members
Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > >	loadables

ChVectorDynamic	load_Q

Constructor & Destructor Documentation

◆ ChLoadNodeXYZBodySpring()

chrono::ChLoadNodeXYZBodySpring::ChLoadNodeXYZBodySpring	(	std::shared_ptr< ChNodeXYZ >	mnodeA,
		std::shared_ptr< ChBody >	mbodyB,
		double	stiffness,
		double	damping,
		double	rest_length = `0`
	)

Parameters

mnodeA	node to apply load to
mbodyB	node to apply load to as reaction
stiffness	stiffness
damping	damping
rest_length	initial rest length

Member Function Documentation

◆ ComputeForce()

void chrono::ChLoadNodeXYZBodySpring::ComputeForce	(	const ChFrameMoving<> &	rel_AB,
		ChVector3d &	loc_force
	)

overridevirtual

Compute the force on the nodeA, in local coord system, given relative position of nodeA respect to B.

The local coordinate system is that specified with SetApplicationFrameB (the auxiliary frame attached to body).

Implements chrono::ChLoadNodeXYZBody.

◆ IsStiff()

virtual bool chrono::ChLoadNodeXYZBodySpring::IsStiff ( )

inlineoverrideprotectedvirtual

Report if this is load is stiff.

If so, InjectKRMMatrices will provide the Jacobians of the load.

Implements chrono::ChLoadBase.

◆ SetStiff()

void chrono::ChLoadNodeXYZBodySpring::SetStiff ( bool ms )

inline

Declare this load as stiff or non-stiff.

If set as a stiff load, this enables the automatic computation of the Jacobian through finite differences.

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

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

Description

Public Member Functions

Protected Member Functions