chrono::ChShaftsMotorLoad Class Reference
Description
Motor to apply a load between two shafts.
Similar to the simplier ChShaftsAppliedTorque, this class specifies the load through a function of time. Differently from the ChShaftsMotorPosition and ChShaftsMotorSpeed, this does not enforce precise motion via constraint. Application examples:
- mimic a PID controlled system with some feedback
- force that is updated by a cosimulation
- force from a human-in-the-loop setpoint
#include <ChShaftsMotorLoad.h>
Inheritance diagram for chrono::ChShaftsMotorLoad:
Collaboration diagram for chrono::ChShaftsMotorLoad:
Public Member Functions | |
| ChShaftsMotorLoad (const ChShaftsMotorLoad &other) | |
| virtual ChShaftsMotorLoad * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| void | SetLoadFunction (const std::shared_ptr< ChFunction > mf) |
| Set the load function L(t). More... | |
| std::shared_ptr< ChFunction > | GetLoadFunction () const |
| Get the load function L(t). | |
| virtual double | GetMotorLoad () const override |
| Get the current actuator reaction torque in Nm. | |
| 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 deserialization of transient data from archives. More... | |
 Public Member Functions inherited from chrono::ChShaftsMotor | |
| ChShaftsMotor (const ChShaftsMotor &other) | |
| virtual double | GetMotorPos () const |
| Get the position of the motor, as position of shaft 1 with respect to 2. More... | |
| virtual double | GetMotorPosDt () const |
| Get the motor speed, as speed of shaft 1 with respect to 2. | |
| virtual double | GetMotorPosDt2 () const |
| Get the motor acceleration, as accelerations of shaft 1 with respect to 2. | |
| virtual int | GetMotorNumTurns () const |
| Get number of full rotations for this shafts rotational motor. More... | |
| virtual double | GetMotorAngleWrapped () const |
| Get the motor angle in the range [-pi, +pi]. More... | |
| virtual double | GetReaction1 () const override |
| Get the reaction torque exchanged between the two shafts, considered as applied to the 1st axis. | |
| virtual double | GetReaction2 () const override |
| Get the reaction torque exchanged between the two shafts, considered as applied to the 2nd axis. | |
| Public Member Functions inherited from chrono::ChShaftsCouple | |
| ChShaftsCouple (const ChShaftsCouple &other) | |
| virtual unsigned int | GetNumAffectedCoords () |
| Get the number of scalar variables affected by constraints in this couple. | |
| virtual bool | Initialize (std::shared_ptr< ChShaft > shaft_1, std::shared_ptr< ChShaft > shaft_2) |
| Initialize this shafts couple, given two shafts to join. More... | |
| ChShaft * | GetShaft1 () const |
| Get the first (input) shaft. | |
| ChShaft * | GetShaft2 () const |
| Get the second (output) shaft. | |
| double | GetRelativePos () const |
| Get the actual relative position (angle or displacement) in terms of phase of shaft 1 with respect to 2. | |
| double | GetRelativePosDt () const |
| Get the actual relative speed (angle or displacement) of shaft 1 with respect to 2. | |
| double | GetRelativePosDt2 () const |
| Get the actual relative acceleration (angle or displacement) of shaft 1 with respect to 2. | |
| Public Member Functions inherited from chrono::ChPhysicsItem | |
| ChPhysicsItem (const ChPhysicsItem &other) | |
| ChSystem * | GetSystem () const |
| Get the pointer to the parent ChSystem(). | |
| virtual void | SetSystem (ChSystem *m_system) |
| Set the pointer to the parent ChSystem(). More... | |
| 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 physics item. More... | |
| void | AddCamera (std::shared_ptr< ChCamera > camera) |
| Attach a ChCamera to this physical item. More... | |
| std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
| Get the set of cameras attached to this physics item. | |
| virtual bool | IsActive () const |
| Return true if the object is active and included in dynamics. | |
| virtual bool | IsCollisionEnabled () const |
| Tell if the object is subject to collision. More... | |
| virtual void | AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const |
| Add to the provided collision system any collision models managed by this physics item. More... | |
| virtual void | RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const |
| Remove from the provided collision system any collision models managed by this physics item. More... | |
| virtual void | SyncCollisionModels () |
| Synchronize the position and bounding box of any collsion models managed by this physics item. | |
| virtual ChAABB | GetTotalAABB () const |
| Get the axis-aligned bounding box (AABB) of this object. More... | |
| virtual ChVector3d | GetCenter () const |
| Get a symbolic 'center' of the object. More... | |
| virtual void | Setup () |
| Perform setup operations. More... | |
| virtual void | Update (bool update_assets=true) |
| Perform an update using the current time. | |
| void | UpdateVisualModel () |
| Utility function to update only the associated visual assets (if any). | |
| virtual void | ForceToRest () |
| Set zero speed (and zero accelerations) in state, without changing the position. More... | |
| virtual unsigned int | GetNumCoordsPosLevel () |
| Get the number of coordinates at the position level. More... | |
| virtual unsigned int | GetNumCoordsVelLevel () |
| Get the number of coordinates at the velocity level. More... | |
| virtual unsigned int | GetNumConstraints () |
| Get the number of scalar constraints. | |
| virtual unsigned int | GetNumConstraintsBilateral () |
| Get the number of bilateral scalar constraints. | |
| virtual unsigned int | GetNumConstraintsUnilateral () |
| Get the number of unilateral scalar constraints. | |
| unsigned int | GetOffset_x () |
| Get offset in the state vector (position part) | |
| unsigned int | GetOffset_w () |
| Get offset in the state vector (speed part) | |
| unsigned int | GetOffset_L () |
| Get offset in the lagrangian multipliers. | |
| void | SetOffset_x (const unsigned int moff) |
| Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
| void | SetOffset_w (const unsigned int moff) |
| Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
| void | SetOffset_L (const unsigned int moff) |
| Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
| virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) |
| From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
| virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) |
| From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
| virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
| From item's state acceleration to global acceleration vector. More... | |
| virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
| From global acceleration vector to item's state acceleration. More... | |
| virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
| From item's reaction forces to global reaction vector. More... | |
| virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
| From global reaction vector to item's reaction forces. More... | |
| virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
| Computes x_new = x + Dt , using vectors at specified offsets. More... | |
| virtual void | IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) |
| Computes Dt = x_new - x, using vectors at specified offsets. More... | |
| virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) |
| Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
| virtual void | IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) |
| Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More... | |
| virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
| Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
| virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
| Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
| virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
| Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
| virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) |
| Prepare variables and constraints to accommodate a solution: More... | |
| virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) |
| After a solver solution, fetch values from variables and constraints into vectors: More... | |
| virtual void | InjectVariables (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChVariable objects associated with this item. | |
| virtual void | InjectConstraints (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChConstraint objects associated with this item. | |
| virtual void | LoadConstraintJacobians () |
| Compute and load current Jacobians in encapsulated ChConstraint objects. | |
| 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... | |
| virtual void | VariablesFbReset () |
| Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
| virtual void | VariablesQbLoadSpeed () |
| Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
| virtual void | VariablesFbIncrementMq () |
| Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
| virtual void | VariablesQbSetSpeed (double step=0) |
| Fetches the item speed (ex. More... | |
| virtual void | VariablesQbIncrementPosition (double step) |
| Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More... | |
| virtual void | ConstraintsBiReset () |
| Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) |
| Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_Ct (double factor=1) |
| Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_Qc (double factor=1) |
| Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsFbLoadForces (double factor=1) |
| Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
| virtual void | ConstraintsFetch_react (double factor=1) |
| Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. 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 std::string & | ArchiveContainerName () |
Additional Inherited Members | |
| Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
| Protected Attributes inherited from chrono::ChShaftsCouple | |
| ChShaft * | shaft1 |
| first shaft | |
| ChShaft * | shaft2 |
| second shaft | |
| Protected Attributes inherited from chrono::ChPhysicsItem | |
| ChSystem * | system |
| parent system | |
| std::shared_ptr< ChVisualModelInstance > | vis_model_instance |
| instantiated visualization model | |
| std::vector< std::shared_ptr< ChCamera > > | cameras |
| set of cameras | |
| unsigned int | offset_x |
| offset in vector of state (position part) | |
| unsigned int | offset_w |
| offset in vector of state (speed part) | |
| unsigned int | offset_L |
| offset in vector of lagrangian multipliers | |
| 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 | |
Member Function Documentation
◆ ArchiveIn()
|
overridevirtual |
Method to allow deserialization of transient data from archives.
Method to allow de serialization of transient data from archives.
Reimplemented from chrono::ChShaftsMotor.
◆ SetLoadFunction()
|
inline |
Set the load function L(t).
This function outputs a torque for a rotational motor and a force for a linear motor.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChShaftsMotorLoad.h
- /builds/uwsbel/chrono/src/chrono/physics/ChShaftsMotorLoad.cpp
