Description
Specialized class for representing a NDOF item for a system, that is an item with mass matrix and associate variables.
The main difference from the base class ChVariables is that the base class does not create any mass matrix, while this minimal specialization at least creates a NxN mass matrix. Of course a generic (uncompressed) NxN matrix is used. This means that, for example, this class could be used for 3D rigid bodies if N=6, however it would be better to implement a more optimized class which does not create a full 6x6 matrix (since only few elements on the diagonal would be different from 0 in case of rigid bodies), so use the ChVariablesBody in this case..
#include <ChVariablesGeneric.h>
Public Member Functions  
ChVariablesGeneric (unsigned int dof=1)  
ChVariablesGeneric &  operator= (const ChVariablesGeneric &other) 
Assignment operator: copy from other object.  
ChMatrixDynamic &  GetMass () 
Access the inertia matrix.  
ChMatrixDynamic &  GetInvMass () 
Access the inverted inertia matrix.  
virtual void  ComputeMassInverseTimesVector (ChVectorRef result, ChVectorConstRef vect) const override 
Compute the product of the inverse mass matrix by a given vector and store in result. More...  
virtual void  AddMassTimesVector (ChVectorRef result, ChVectorConstRef vect) const override 
Compute the product of the mass matrix by a given vector and increment result. More...  
virtual void  AddMassTimesVectorInto (ChVectorRef result, ChVectorConstRef vect, const double ca) const override 
Add the product of the mass submatrix by a given vector, scaled by ca, to result. More...  
virtual void  AddMassDiagonalInto (ChVectorRef result, const double ca) const override 
Add the diagonal of the mass matrix, as a vector scaled by ca, to result. More...  
virtual void  PasteMassInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col, const double ca) const override 
Write the mass submatrix for these variables into the specified global matrix at the offsets of each variable. More...  
Public Member Functions inherited from chrono::ChVariables  
ChVariables (unsigned int dof)  
ChVariables &  operator= (const ChVariables &other) 
Assignment operator: copy from other object.  
void  SetDisabled (bool mdis) 
Deactivates/freezes the variable (these variables won't be modified by the system solver).  
bool  IsDisabled () const 
Check if the variables have been deactivated (these variables won't be modified by the system solver).  
bool  IsActive () const 
Check if these variables are currently active. More...  
unsigned int  GetDOF () const 
The number of scalar variables in the vector qb (dof=degrees of freedom).  
ChVectorRef  State () 
Get a reference to the differential states encapsulated by these variables. More...  
ChVectorRef  Force () 
Get a reference to the generalized force corresponding to these variables. More...  
void  SetOffset (unsigned int moff) 
Set offset in the global state vector. More...  
unsigned int  GetOffset () const 
Get offset in the global state vector.  
virtual void  ArchiveOut (ChArchiveOut &archive_out) 
virtual void  ArchiveIn (ChArchiveIn &archive_in) 
Additional Inherited Members  
Protected Attributes inherited from chrono::ChVariables  
unsigned int  offset 
offset in global q state vector (needed by some solvers)  
unsigned int  ndof 
number of degrees of freedom (number of contained scalar variables)  
Member Function Documentation
◆ AddMassDiagonalInto()

overridevirtual 
Add the diagonal of the mass matrix, as a vector scaled by ca, to result.
Note: 'result' is a systemlevel vector of appropriate size. This function must index into this vector using the offsets of each variable.
Implements chrono::ChVariables.
◆ AddMassTimesVector()

overridevirtual 
Compute the product of the mass matrix by a given vector and increment result.
This function must perform the operation result += M * vect
for a vector of same size as the variables state.
Implements chrono::ChVariables.
◆ AddMassTimesVectorInto()

overridevirtual 
Add the product of the mass submatrix by a given vector, scaled by ca, to result.
Note: 'result' and 'vect' are systemlevel vectors of appropriate size. This function must index into these vectors using the offsets of each variable.
Implements chrono::ChVariables.
◆ ComputeMassInverseTimesVector()

overridevirtual 
Compute the product of the inverse mass matrix by a given vector and store in result.
This function must calculate result = M^(1) * vect
for a vector of same size as the variables state.
Implements chrono::ChVariables.
◆ PasteMassInto()

overridevirtual 
Write the mass submatrix for these variables into the specified global matrix at the offsets of each variable.
The masses will be scaled by the given factor 'ca'. The (start_row, start_col) pair specifies the topleft corner of the systemlevel mass matrix in the provided matrix. Assembling the systemlevel sparse matrix is required only if using a direct sparse solver or for debugging/reporting purposes.
Implements chrono::ChVariables.
The documentation for this class was generated from the following files:
 /builds/uwsbel/chrono/src/chrono/solver/ChVariablesGeneric.h
 /builds/uwsbel/chrono/src/chrono/solver/ChVariablesGeneric.cpp