Description
Load representing a torque applied to a rigid body.
Torque direction does not rotate with the body. The magnitude of the applied torque can be optionally modulated by a function of time. The default modulation is the constant function with value 1.
#include <ChLoadsBody.h>


Public Member Functions | |
| ChLoadBodyTorque (std::shared_ptr< ChBody > body, const ChVector3d &torque, bool local_torque) | |
| virtual ChLoadBodyTorque * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| void | SetTorque (const ChVector3d &torque, bool is_local) |
| Set the constant torque vector. | |
| ChVector3d | GetTorque () const |
| Return the current torque vector (scaled by the current modulation value). | |
| void | SetModulationFunction (std::shared_ptr< ChFunction > modulation) |
| Set modulation function. | |
| virtual void | ComputeQ (ChState *state_x, ChStateDelta *state_w) override |
| Compute the generalized load(s). | |
Public Member Functions inherited from chrono::ChLoadCustom | |
| ChLoadCustom (std::shared_ptr< ChLoadable > loadable_object) | |
| virtual int | LoadGetNumCoordsPosLevel () override |
| Gets the number of DOFs affected by this load (position part). | |
| virtual int | LoadGetNumCoordsVelLevel () override |
| Gets the number of DOFs affected by this load (speed part). | |
| virtual void | LoadGetStateBlock_x (ChState &mD) override |
| Gets all the current DOFs packed in a single vector (position part). | |
| virtual void | LoadGetStateBlock_w (ChStateDelta &mD) override |
| Gets all the current DOFs packed in a single vector (speed part). | |
| virtual void | LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
| Increment a packed state (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. | |
| virtual int | LoadGetNumFieldCoords () override |
| Number of coordinates in the interpolated field. | |
| virtual void | ComputeJacobian (ChState *state_x, ChStateDelta *state_w) override |
| Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. | |
| virtual void | LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override |
| Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. | |
| virtual void | LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override |
| Increment a vector R with the matrix-vector product M*w, scaled by the factor c. | |
| virtual void | LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override |
| Add the lumped mass to an Md vector, representing a mass diagonal matrix. | |
| virtual void | CreateJacobianMatrices () override |
| Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block. | |
| virtual ChVectorDynamic & | GetQ () |
| Access the generalized load vector Q. | |
Public Member Functions inherited from chrono::ChLoadBase | |
| ChLoadJacobians * | GetJacobians () |
| Access the Jacobians (if any, i.e. if this is a stiff load). | |
| 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. | |
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 void | ArchiveOut (ChArchiveOut &archive_out) |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) |
| Method to allow de-serialization of transient data from archives. | |
| virtual std::string & | ArchiveContainerName () |
Additional Inherited Members | |
Public Attributes inherited from chrono::ChLoadCustom | |
| std::shared_ptr< ChLoadable > | loadable |
| ChVectorDynamic | load_Q |
Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
Protected Attributes inherited from chrono::ChLoadBase | |
| ChLoadJacobians * | m_jacobians |
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 | |
Constructor & Destructor Documentation
◆ ChLoadBodyTorque()
| chrono::ChLoadBodyTorque::ChLoadBodyTorque | ( | std::shared_ptr< ChBody > | body, |
| const ChVector3d & | torque, | ||
| bool | local_torque ) |
- Parameters
-
body object to apply load to torque torque to apply local_torque torque is in body local coords
Member Function Documentation
◆ Clone()
|
inlineoverridevirtual |
"Virtual" copy constructor (covariant return type).
Implements chrono::ChObj.
◆ ComputeQ()
|
overridevirtual |
Compute the generalized load(s).
- Parameters
-
state_x state position to evaluate Q state_w state speed to evaluate Q
Implements chrono::ChLoadBase.
◆ SetModulationFunction()
|
inline |
Set modulation function.
This is a function of time which (optionally) modulates the specified applied force. By default the modulation is a constant function, always returning a value of 1.
◆ SetTorque()
| void chrono::ChLoadBodyTorque::SetTorque | ( | const ChVector3d & | torque, |
| bool | is_local ) |
Set the constant torque vector.
This value is optionally modulated by a function of time.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono/physics/ChLoadsBody.h
- C:/M/B/src/chrono-9.0.1/src/chrono/physics/ChLoadsBody.cpp
Public Member Functions inherited from