Description

Utility class for specifying a nonlinear translational spring force with pre-tension.

F = P - mapK(length - rest_length)

#include <ChForceFunctors.h>

Inheritance diagram for chrono::utils::NonlinearSpringForce:

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Collaboration diagram for chrono::utils::NonlinearSpringForce:

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Public Member Functions
	NonlinearSpringForce (double preload=0)

	NonlinearSpringForce (const std::vector< std::pair< double, double >> &dataK, double preload=0)

void	add_pointK (double x, double y)

virtual double	evaluate (double time, double rest_length, double length, double vel, const ChLinkTSDA &link) override
	Calculate and return the general spring-damper force at the specified configuration. More...

virtual rapidjson::Value	exportJSON (rapidjson::Document::AllocatorType &allocator) override
	Optional reporting function to generate a JSON value with functor information.

Public Member Functions inherited from chrono::utils::SpringForce
	SpringForce (double preload)

void	enable_stops (double min_length, double max_length)

void	set_stops (const std::vector< std::pair< double, double >> &data_bump, const std::vector< std::pair< double, double >> &data_rebound)

void	set_stops (double bump_coefficient, double rebound_coefficient)

double	evaluate_stops (double length)

Additional Inherited Members
Protected Attributes inherited from chrono::utils::SpringForce
double	m_P
	pre-tension

bool	m_stops

double	m_min_length

double	m_max_length

ChFunctionInterp	m_bump

ChFunctionInterp	m_rebound

Member Function Documentation

double chrono::utils::NonlinearSpringForce::evaluate	(	double	time,
		double	rest_length,
		double	length,
		double	vel,
		const ChLinkTSDA &	link
	)

overridevirtual

Calculate and return the general spring-damper force at the specified configuration.

If the link has internal ODE states, the current states can be accessed with link->GetStates().

Parameters

time	current time
rest_length	undeformed length
length	current length
vel	current velocity (positive when extending)
link	associated TSDA link

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