#include <CHshaft.h>
Public Member Functions | |
| ChShaft () | |
| ~ChShaft () | |
| void | Copy (ChShaft *source) |
| void | SetShaftFixed (bool mev) |
| bool | GetShaftFixed () |
| void | SetLimitSpeed (bool mlimit) |
| bool | GetLimitSpeed () |
| void | SetUseSleeping (bool ms) |
| bool | GetUseSleeping () |
| void | SetSleeping (bool ms) |
| bool | GetSleeping () |
| bool | TrySleeping () |
| bool | IsActive () |
| virtual int | GetDOF () |
| ChLcpVariablesGeneric & | Variables () |
| void | VariablesFbReset () |
| void | VariablesFbLoadForces (double factor=1.) |
| void | VariablesQbLoadSpeed () |
| void | VariablesQbSetSpeed (double step=0.) |
| void | VariablesQbIncrementPosition (double step) |
| virtual void | InjectVariables (ChLcpSystemDescriptor &mdescriptor) |
| void | SetNoSpeedNoAcceleration () |
| void | SetAppliedTorque (double mtorque) |
| double | GetAppliedTorque () |
| void | SetPos (double mp) |
| double | GetPos () |
| void | SetPos_dt (double mp) |
| double | GetPos_dt () |
| void | SetPos_dtdt (double mp) |
| double | GetPos_dtdt () |
| void | SetInertia (double newJ) |
| double | GetInertia () |
| void | SetMaxSpeed (float m_max_speed) |
| float | GetMaxSpeed () |
| void | ClampSpeed () |
| void | SetSleepTime (float m_t) |
| float | GetSleepTime () |
| void | SetSleepMinSpeed (float m_t) |
| float | GetSleepMinSpeed () |
| void | SetSleepMinWvel (float m_t) |
| float | GetSleepMinWvel () |
| virtual void | Update (double mytime) |
| void | StreamIN (ChStreamInBinary &mstream) |
| void | StreamOUT (ChStreamOutBinary &mstream) |
Detailed Description
Class for one-degree-of-freedom mechanical parts with associated inertia (mass, or J moment of intertial for rotating parts). In most cases these represent shafts that can be used to build 1D models of power trains. This is more efficient than simulating power trains modeled with full 3D CHbody objects.
Constructor & Destructor Documentation
| chrono::ChShaft::ChShaft | ( | ) |
Build a shaft.
CLASS FOR SHAFTS.
Member Function Documentation
| void chrono::ChShaft::ClampSpeed | ( | ) |
When this function is called, the speed of the shaft is clamped into limits posed by max_speed and max_wvel - but remember to put the shaft in the SetLimitSpeed(true) mode.
| void chrono::ChShaft::InjectVariables | ( | ChLcpSystemDescriptor & | mdescriptor | ) | [virtual] |
Tell to a system descriptor that there are variables of type ChLcpVariables in this object (for further passing it to a LCP solver)
Reimplemented from chrono::ChPhysicsItem.
| bool chrono::ChShaft::IsActive | ( | ) |
Tell if the body is active, i.e. it is neither fixed to ground nor it is in sleep mode.
| void chrono::ChShaft::SetInertia | ( | double | newJ | ) |
Inertia of the shaft. Must be positive. Try not to mix bodies with too high/too low values of mass, for numerical stability.
| void chrono::ChShaft::SetLimitSpeed | ( | bool | mlimit | ) |
Trick. Set the maximum shaft velocity (beyond this limit it will be clamped). This is useful in virtual reality and real-time simulations. The realism is limited, but the simulation is more stable.
| void chrono::ChShaft::SetMaxSpeed | ( | float | m_max_speed | ) |
Trick. Set the maximum velocity (beyond this limit it will be clamped). This is useful in virtual reality and real-time simulations, to increase robustness at the cost of realism. This limit is active only if you set SetLimitSpeed(true);
| void chrono::ChShaft::SetShaftFixed | ( | bool | mev | ) |
Sets the 'fixed' state of the shaft. If true, it does not rotate despite constraints, forces, etc.
| void chrono::ChShaft::SetSleeping | ( | bool | ms | ) |
Force the shaft in sleeping mode or not (usually this state change is not handled by users, anyway, because it is mostly automatic).
| void chrono::ChShaft::SetSleepTime | ( | float | m_t | ) |
Set the amount of time which must pass before going automatically in sleep mode when the shaft has very small movements.
| void chrono::ChShaft::SetUseSleeping | ( | bool | ms | ) |
Trick. If use sleeping= true, shafts which do not rotate for too long time will be deactivated, for optimization. The realism is limited, but the simulation is faster.
| void chrono::ChShaft::StreamIN | ( | ChStreamInBinary & | mstream | ) | [virtual] |
Method to allow deserializing a persistent binary archive (ex: a file) into transient data.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChShaft::StreamOUT | ( | ChStreamOutBinary & | mstream | ) | [virtual] |
Method to allow serializing transient data into a persistent binary archive (ex: a file).
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChShaft::VariablesQbIncrementPosition | ( | double | step | ) | [virtual] |
Increment shaft position by the 'qb' part of the ChLcpVariables, multiplied by a 'step' factor. pos+=qb*step
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChShaft::VariablesQbLoadSpeed | ( | ) | [virtual] |
Initialize the 'qb' part of the ChLcpVariables with the current value of shaft speed. Note: since 'qb' is the unknown of the LCP, this function sems unuseful, however the LCP solver has an option 'add_Mq_to_f', that takes [M]*qb and add to the 'fb' term before starting (this is often needed in the Anitescu time stepping method, for instance); this explains the need of this method..
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChShaft::VariablesQbSetSpeed | ( | double | step = 0. | ) | [virtual] |
Fetches the shaft speed from the 'qb' part of the ChLcpVariables (does not updates the full shaft state) and sets it as the current shaft speed. If 'step' is not 0, also computes the approximate acceleration of the shaft using backward differences, that is accel=(new_speed-old_speed)/step.
Reimplemented from chrono::ChPhysicsItem.
CHRONO::ENGINE