chrono::ChLoadNodeXYZBodySpring Class Reference

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:
Collaboration diagram for chrono::ChLoadNodeXYZBodySpring:

Public Member Functions

 ChLoadNodeXYZBodySpring (std::shared_ptr< ChNodeXYZ > mnodeA, std::shared_ptr< ChBody > mbodyB, double stiffness, double damping, double rest_length=0)
 
virtual ChLoadNodeXYZBodySpringClone () 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< ChNodeXYZGetNode () const
 
std::shared_ptr< ChBodyGetBody () 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 ChVectorDynamicGetQ ()
 Access the generalized load vector Q.
 
- Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobiansGetJacobians ()
 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
ChLoadJacobiansm_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
mnodeAnode to apply load to
mbodyBnode to apply load to as reaction
stiffnessstiffness
dampingdamping
rest_lengthinitial 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