chrono::ChLcpVariablesNode Class Reference

#include <CHlcpVariablesNode.h>

Inheritance diagram for chrono::ChLcpVariablesNode:

Collaboration diagram for chrono::ChLcpVariablesNode:

List of all members.

Public Member Functions
ChLcpVariablesNode &	operator= (const ChLcpVariablesNode &other)
virtual double	GetNodeMass () const
void	SetNodeMass (const double mmass)
virtual int	Get_ndof ()
virtual void *	GetUserData ()
virtual void	SetUserData (void *mdata)
virtual void	Compute_invMb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)
virtual void	Compute_invMb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)
virtual void	Compute_inc_invMb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)
virtual void	Compute_inc_invMb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)
virtual void	Compute_Mb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)
virtual void	Compute_Mb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)
virtual void	Build_M (ChSparseMatrix &storage, int insrow, int inscol)

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Detailed Description

Specialized class for representing a 3-DOF item for a LCP system, that is a 3D point node, with mass matrix and associate variables (a 3 element vector, ex.speed)

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Member Function Documentation

virtual void chrono::ChLcpVariablesNode::Build_M	(	ChSparseMatrix &	storage,
		int	insrow,
		int	inscol
	)		[virtual]

Build the mass matrix (for these variables) storing it in 'storage' sparse matrix, at given column/row offset. This function is used only by the ChLcpSimplex solver (iterative solvers don't need to know mass matrix explicitly). Optimised: doesn't fill unneeded elements except mass.

Implements chrono::ChLcpVariables.

virtual void chrono::ChLcpVariablesNode::Compute_inc_invMb_v	(	ChMatrix< float > &	result,
		const ChMatrix< float > &	vect
	)		[virtual]

Computes the product of the inverse mass matrix by a vector, and increment result: result += [invMb]*vect

Implements chrono::ChLcpVariables.

virtual void chrono::ChLcpVariablesNode::Compute_invMb_v	(	ChMatrix< float > &	result,
		const ChMatrix< float > &	vect
	)		[virtual]

Computes the product of the inverse mass matrix by a vector, and set in result: result = [invMb]*vect

Implements chrono::ChLcpVariables.

virtual void chrono::ChLcpVariablesNode::Compute_Mb_v	(	ChMatrix< float > &	result,
		const ChMatrix< float > &	vect
	)		[virtual]

Computes the product of the mass matrix by a vector, and set in result: result = [Mb]*vect

Implements chrono::ChLcpVariables.

virtual int chrono::ChLcpVariablesNode::Get_ndof

(

)

[virtual]

The number of scalar variables in the vector qb (dof=degrees of freedom)

Reimplemented from chrono::ChLcpVariables.