Description
Constraint between the direction of a FEA node of ChNodeFEAxyzD class, and a ChBodyFrame (frame).
The D direction of the ChNodeFEAxyzD is enforced to stay parallel to a given direction associated to the ChBodyFrame.
#include <ChLinkNodeSlopeFrame.h>


Public Member Functions | |
| ChLinkNodeSlopeFrame (const ChLinkNodeSlopeFrame &other) | |
| virtual ChLinkNodeSlopeFrame * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual unsigned int | GetNumAffectedCoords () override |
| Get the number of scalar variables affected by constraints in this link. | |
| virtual unsigned int | GetNumConstraintsBilateral () override |
| Number of scalar constraints. | |
| virtual ChVectorDynamic | GetConstraintViolation () const override |
| Get the current constraint violations. | |
| ChFrame | GetFrameNodeAbs () const |
| virtual int | Initialize (std::shared_ptr< ChNodeFEAxyzD > node, std::shared_ptr< ChBodyFrame > body, ChVector3d *dir=nullptr) |
| Initialize this constraint, given the node and body frame to join. | |
| virtual std::shared_ptr< ChNodeFEAxyzD > | GetConstrainedNode () |
| Get the connected xyzD node (point). | |
| virtual std::shared_ptr< ChBodyFrame > | GetConstrainedBodyFrame () |
| Get the connected body (frame). | |
| ChVector3d | GetDirection () const |
| Get the constrained direction, expressed in the reference coordinates of the body. | |
| void | SetDirectionInBodyCoords (const ChVector3d &dir_loc) |
| Set the constrained direction, expressed in the reference coordinates of the body. | |
| void | SetDirectionInAbsoluteCoords (const ChVector3d &dir_abs) |
| Set the constrained direction, expressed in absolute coordinates. | |
| ChVector3d | GetReactionOnNode () const |
| Get the reaction torque on the node, expressed in the link coordinate system. | |
| ChVector3d | GetReactionOnBody () const |
| Get the reaction torque on the body, expressed in the link coordinate system. | |
| virtual void | Update (double mytime, bool update_assets=true) override |
| Update all auxiliary data of the gear transmission at given time. | |
| 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. | |
| virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override |
| From item's reaction forces to global reaction vector. | |
| virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override |
| From global reaction vector to item's reaction forces. | |
| virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override |
| Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. | |
| virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override |
| Takes the term C, scale and adds to Qc at given offset: Qc += c*C. | |
| 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) override |
| Prepare variables and constraints to accommodate a solution: | |
| virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override |
| After a solver solution, fetch values from variables and constraints into vectors: | |
| virtual void | InjectConstraints (ChSystemDescriptor &descriptor) override |
| Register with the given system descriptor any ChConstraint objects associated with this item. | |
| virtual void | ConstraintsBiReset () override |
| 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) override |
| Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_Ct (double factor=1.) override |
| 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 | LoadConstraintJacobians () override |
| Compute and load current Jacobians in encapsulated ChConstraint objects. | |
| virtual void | ConstraintsFetch_react (double factor=1.) override |
| Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. | |
Public Member Functions inherited from chrono::ChLinkBase | |
| ChLinkBase (const ChLinkBase &other) | |
| bool | IsValid () |
| Tells if the link data is currently valid. | |
| void | SetValid (bool mon) |
| Set the status of link validity. | |
| bool | IsDisabled () |
| Tells if all constraints of this link are currently turned on or off by the user. | |
| virtual void | SetDisabled (bool mdis) |
| User can use this to enable/disable all the constraint of the link as desired. | |
| bool | IsBroken () |
| Tells if the link is broken, for excess of pulling/pushing. | |
| virtual void | SetBroken (bool mon) |
| Set the 'broken' status vof this link. | |
| virtual bool | IsActive () const override |
| Return true if the link is currently active and thereofre included into the system solver. | |
| virtual bool | IsRequiringWaking () |
| Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. | |
| virtual ChFrame | GetVisualModelFrame (unsigned int nclone=0) const override |
| Get the reference frame (expressed in and relative to the absolute frame) of the visual model. | |
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(). | |
| void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
| Add an (optional) visualization model. | |
| std::shared_ptr< ChVisualModel > | GetVisualModel () const |
| Access the visualization model (if any). | |
| void | AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>()) |
| Add the specified visual shape to the visualization model. | |
| std::shared_ptr< ChVisualShape > | GetVisualShape (unsigned int i) const |
| Access the specified visualization shape in the visualization model (if any). | |
| void | AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA) |
| Add the specified FEA visualization object to the visualization model. | |
| std::shared_ptr< ChVisualShapeFEA > | GetVisualShapeFEA (unsigned int i) const |
| Access the specified FEA visualization object in the visualization model (if any). | |
| virtual unsigned int | GetNumVisualModelClones () const |
| Return the number of clones of the visual model associated with this physics item. | |
| void | AddCamera (std::shared_ptr< ChCamera > camera) |
| Attach a ChCamera to this physical item. | |
| std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
| Get the set of cameras attached to this physics item. | |
| virtual bool | IsCollisionEnabled () const |
| Tell if the object is subject to collision. | |
| virtual void | AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const |
| Add to the provided collision system any collision models managed by this physics item. | |
| virtual void | RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const |
| Remove from the provided collision system any collision models managed by this physics item. | |
| virtual void | SyncCollisionModels () |
| Synchronize the position and bounding box of any collsion models managed by this physics item. | |
| virtual ChAABB | GetTotalAABB () |
| Get the entire AABB axis-aligned bounding box of the object. | |
| virtual void | GetCenter (ChVector3d &mcenter) |
| Get a symbolic 'center' of the object. | |
| virtual void | Setup () |
| This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
| virtual void | Update (bool update_assets=true) |
| As above, but does not require updating of time-dependent data. | |
| virtual void | ForceToRest () |
| Set zero speed (and zero accelerations) in state, without changing the position. | |
| virtual unsigned int | GetNumCoordsPosLevel () |
| Get the number of coordinates at the position level. | |
| virtual unsigned int | GetNumCoordsVelLevel () |
| Get the number of coordinates at the velocity level. | |
| virtual unsigned int | GetNumConstraints () |
| Get the number of 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. | |
| 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. | |
| virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
| From item's state acceleration to global acceleration vector. | |
| virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
| From global acceleration vector to item's state acceleration. | |
| 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. | |
| 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. | |
| virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) |
| Takes the F force term, scale and adds to R at given offset: R += c*F. | |
| 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. | |
| 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. | |
| 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. | |
| virtual void | InjectVariables (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChVariable objects associated with this item. | |
| 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. | |
| virtual void | VariablesFbReset () |
| Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
| virtual void | VariablesFbLoadForces (double factor=1) |
| Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
| virtual void | VariablesQbLoadSpeed () |
| Initialize the 'qb' part of the ChVariables with the current value of speeds. | |
| virtual void | VariablesFbIncrementMq () |
| Adds M*q (masses multiplied current 'qb') to Fb, ex. | |
| virtual void | VariablesQbSetSpeed (double step=0) |
| Fetches the item speed (ex. | |
| virtual void | VariablesQbIncrementPosition (double step) |
| Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. | |
| 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. | |
Public Member Functions inherited from chrono::ChObj | |
| ChObj (const ChObj &other) | |
| int | GetIdentifier () const |
| Get the unique integer identifier of this object. | |
| void | SetTag (int tag) |
| Set an object integer tag (default: -1). | |
| 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::ChLinkBase | |
| bool | disabled |
| all constraints of link disabled because of user needs | |
| bool | valid |
| link data is valid | |
| bool | broken |
| link is broken because of excessive pulling/pushing. | |
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.
Reimplemented from chrono::ChLinkBase.
◆ ArchiveOut()
|
overridevirtual |
Method to allow serialization of transient data to archives.
Reimplemented from chrono::ChLinkBase.
◆ Clone()
|
inlineoverridevirtual |
"Virtual" copy constructor (covariant return type).
Reimplemented from chrono::ChPhysicsItem.
◆ ConstraintsBiLoad_C()
|
overridevirtual |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
Reimplemented from chrono::ChPhysicsItem.
◆ ConstraintsBiLoad_Ct()
|
overridevirtual |
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.
Reimplemented from chrono::ChPhysicsItem.
◆ ConstraintsBiReset()
|
overridevirtual |
Sets to zero the known term (b_i) of encapsulated ChConstraints.
Reimplemented from chrono::ChPhysicsItem.
◆ ConstraintsFetch_react()
|
overridevirtual |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.
Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.
Reimplemented from chrono::ChPhysicsItem.
◆ GetConstraintViolation()
|
overridevirtual |
Get the current constraint violations.
Reimplemented from chrono::ChLinkBase.
◆ GetNumAffectedCoords()
|
inlineoverridevirtual |
Get the number of scalar variables affected by constraints in this link.
Implements chrono::ChLinkBase.
◆ GetNumConstraintsBilateral()
|
inlineoverridevirtual |
Number of scalar constraints.
Reimplemented from chrono::ChPhysicsItem.
◆ Initialize()
|
virtual |
Initialize this constraint, given the node and body frame to join.
The constrained direction is the actual direction of the node (unless otherwise defined, using the optional 'dir' parameter). Note: the node and body must belong to the same ChSystem.
- Parameters
-
node xyzD node to join (with the direction) body body (frame) to join dir direction in absolute coordinates
◆ InjectConstraints()
|
overridevirtual |
Register with the given system descriptor any ChConstraint objects associated with this item.
Reimplemented from chrono::ChPhysicsItem.
◆ IntFromDescriptor()
|
overridevirtual |
After a solver solution, fetch values from variables and constraints into vectors:
- Parameters
-
off_v offset for v v vector to where the q 'unknowns' term of the variables will be copied off_L offset for L L vector to where L 'lagrangian ' term of the constraints will be copied
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadConstraint_C()
|
overridevirtual |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*C c a scaling factor do_clamp apply clamping to c*C? recovery_clamp value for min/max clamping of c*C
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_CqL()
|
overridevirtual |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.
- Parameters
-
off_L offset in L multipliers R result: the R residual, R += c*Cq'*L L the L vector c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGatherReactions()
|
overridevirtual |
From item's reaction forces to global reaction vector.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatterReactions()
|
overridevirtual |
From global reaction vector to item's reaction forces.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented from chrono::ChPhysicsItem.
◆ IntToDescriptor()
|
overridevirtual |
Prepare variables and constraints to accommodate a solution:
- Parameters
-
off_v offset for v and R v vector copied into the q 'unknowns' term of the variables R vector copied into the F 'force' term of the variables off_L offset for L and Qc L vector copied into the L 'lagrangian ' term of the constraints Qc vector copied into the Qb 'constraint' term of the constraints
Reimplemented from chrono::ChPhysicsItem.
◆ LoadConstraintJacobians()
|
overridevirtual |
Compute and load current Jacobians in encapsulated ChConstraint objects.
Reimplemented from chrono::ChPhysicsItem.
◆ SetDirectionInAbsoluteCoords()
| void chrono::fea::ChLinkNodeSlopeFrame::SetDirectionInAbsoluteCoords | ( | const ChVector3d & | dir_abs | ) |
Set the constrained direction, expressed in absolute coordinates.
This function may be called only after initialization.
◆ SetDirectionInBodyCoords()
| void chrono::fea::ChLinkNodeSlopeFrame::SetDirectionInBodyCoords | ( | const ChVector3d & | dir_loc | ) |
Set the constrained direction, expressed in the reference coordinates of the body.
This function may be called only after initialization.
◆ Update()
|
overridevirtual |
Update all auxiliary data of the gear transmission at given time.
Reimplemented from chrono::ChPhysicsItem.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono/fea/ChLinkNodeSlopeFrame.h
- C:/M/B/src/chrono-9.0.1/src/chrono/fea/ChLinkNodeSlopeFrame.cpp
Public Member Functions inherited from