chrono::ChConstraintTuple_1vars< T > Class Template Reference
Description
template<class T>
class chrono::ChConstraintTuple_1vars< T >
class chrono::ChConstraintTuple_1vars< T >
This is a container for 'half' of a constraint, and contains a tuple of 1 or 2 or 3 differently-sized jacobian chunks.
For instance, this might happen because you want a constraint between an edge (i.e. two xyz variables, each per end nodes) and a triangle face (i.e. three xyz variables, each per corner), so the jacobian row matrix is split in 2 + 3 chunks, here as two tuples. The complete constraint, ChConstraintTwoTuples, will use two of these classes. Template T is a class of ChVariableTupleCarrier_Nvars type
#include <ChConstraintTuple.h>
Collaboration diagram for chrono::ChConstraintTuple_1vars< T >:

Public Member Functions | |
| ChConstraintTuple_1vars () | |
| Default constructor. | |
| ChConstraintTuple_1vars (const ChConstraintTuple_1vars &other) | |
| Copy constructor. | |
| ChConstraintTuple_1vars & | operator= (const ChConstraintTuple_1vars &other) |
| Assignment operator: copy from other object. | |
| ChRowVectorRef | Get_Cq () |
| ChVectorRef | Get_Eq () |
| ChVariables * | GetVariables () |
| void | SetVariables (T &m_tuple_carrier) |
| void | Update_auxiliary (double &g_i) |
| double | ComputeJacobianTimesState () |
| void | IncrementState (double deltal) |
| void | AddJacobianTimesVectorInto (double &result, ChVectorConstRef vect) const |
| void | AddJacobianTransposedTimesScalarInto (ChVectorRef result, double l) const |
| void | PasteJacobianInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const |
| void | PasteJacobianTransposedInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col) const |
Protected Attributes | |
| ChVariables * | variables |
| The constrained object. | |
| ChRowVectorN< double, T::nvars1 > | Cq |
| The [Cq] jacobian of the constraint. | |
| ChVectorN< double, T::nvars1 > | Eq |
| The [Eq] product [Eq]=[invM]*[Cq]'. | |
The documentation for this class was generated from the following file:
- C:/M/B/src/chrono-9.0.1/src/chrono/solver/ChConstraintTuple.h