chrono::ChLcpConstraintThreeBBShaft Class Reference

#include <CHlcpConstraintThreeBBShaft.h>

Inheritance diagram for chrono::ChLcpConstraintThreeBBShaft:

Collaboration diagram for chrono::ChLcpConstraintThreeBBShaft:

List of all members.

Public Member Functions
	ChLcpConstraintThreeBBShaft ()
	ChLcpConstraintThreeBBShaft (ChLcpVariablesBody *mvariables_a, ChLcpVariablesBody *mvariables_b, ChLcpVariables *mvariables_c)
	ChLcpConstraintThreeBBShaft (const ChLcpConstraintThreeBBShaft &other)
virtual ChLcpConstraint *	new_Duplicate ()
ChLcpConstraintThreeBBShaft &	operator= (const ChLcpConstraintThreeBBShaft &other)
virtual ChMatrix< float > *	Get_Cq_a ()
virtual ChMatrix< float > *	Get_Cq_b ()
virtual ChMatrix< float > *	Get_Cq_c ()
virtual ChMatrix< float > *	Get_Eq_a ()
virtual ChMatrix< float > *	Get_Eq_b ()
virtual ChMatrix< float > *	Get_Eq_c ()
void	SetVariables (ChLcpVariables *mvariables_a, ChLcpVariables *mvariables_b, ChLcpVariables *mvariables_c)
virtual void	Update_auxiliary ()
virtual double	Compute_Cq_q ()
virtual void	Increment_q (const double deltal)
virtual void	Build_Cq (ChSparseMatrix &storage, int insrow)
virtual void	Build_CqT (ChSparseMatrix &storage, int inscol)
virtual void	StreamIN (ChStreamInBinary &mstream)
virtual void	StreamOUT (ChStreamOutBinary &mstream)
Protected Attributes
ChMatrixNM< float, 1, 6 >	Cq_a
ChMatrixNM< float, 1, 6 >	Cq_b
ChMatrixNM< float, 1, 1 >	Cq_c
ChMatrixNM< float, 6, 1 >	Eq_a
ChMatrixNM< float, 6, 1 >	Eq_b
ChMatrixNM< float, 1, 1 >	Eq_c

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Detailed Description

A class for representing a constraint between two bodies (2x6dof in space) and a 1D dof (a shaft)

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Member Function Documentation

virtual void chrono::ChLcpConstraintThreeBBShaft::Build_Cq	(	ChSparseMatrix &	storage,
		int	insrow
	)		[virtual]

Puts the jacobian parts into the 'insrow' row of a sparse matrix, where both portions of the jacobian are shifted in order to match the offset of the corresponding ChLcpVariable. This is used only by the ChLcpSimplex solver (iterative solvers don't need to know jacobians explicitly)

Implements chrono::ChLcpConstraint.

virtual void chrono::ChLcpConstraintThreeBBShaft::Build_CqT	(	ChSparseMatrix &	storage,
		int	inscol
	)		[virtual]

Same as Build_Cq, but puts the _transposed_ jacobian row as a column. This function MUST BE OVERRIDDEN by specialized inherited classes!

Implements chrono::ChLcpConstraint.

virtual double chrono::ChLcpConstraintThreeBBShaft::Compute_Cq_q

(

)

[virtual]

This function must computes the product between the row-jacobian of this constraint '[Cq_i]' and the vector of variables, 'v'. that is CV=[Cq_i]*v This is used for some iterative LCP solvers.

Implements chrono::ChLcpConstraint.

virtual void chrono::ChLcpConstraintThreeBBShaft::Increment_q

(

const double

deltal

)

[virtual]

This function must increment the vector of variables 'v' with the quantity [invM]*[Cq_i]'*deltal,that is v+=[invM]*[Cq_i]'*deltal or better: v+=[Eq_i]*deltal This is used for some iterative LCP solvers.

Implements chrono::ChLcpConstraint.

void chrono::ChLcpConstraintThreeBBShaft::SetVariables	(	ChLcpVariables *	mvariables_a,
		ChLcpVariables *	mvariables_b,
		ChLcpVariables *	mvariables_c
	)		[virtual]

Set references to the constrained objects, If first two variables aren't from ChLcpVariablesBody class, an assert failure happens.

Implements chrono::ChLcpConstraintThree.

void chrono::ChLcpConstraintThreeBBShaft::StreamIN

(

ChStreamInBinary &

mstream

)

[virtual]

Method to allow deserializing a persistent binary archive (ex: a file) into transient data.

Reimplemented from chrono::ChLcpConstraintThree.

void chrono::ChLcpConstraintThreeBBShaft::StreamOUT

(

ChStreamOutBinary &

mstream

)

[virtual]

Method to allow serializing transient data into a persistent binary archive (ex: a file).

Reimplemented from chrono::ChLcpConstraintThree.

void chrono::ChLcpConstraintThreeBBShaft::Update_auxiliary

(

)

[virtual]

This function updates the following auxiliary data:

• the Eq_a and Eq_b and Eq_c matrices
• the g_i product This is often called by LCP solvers at the beginning of the solution process. Most often, inherited classes won't need to override this.

Reimplemented from chrono::ChLcpConstraint.