Project Chrono: chrono::ChLoadBodyBodyTorque Class Reference

Public Member Functions | List of all members
chrono::ChLoadBodyBodyTorque Class Reference

## Description

Load representing a torque applied between two bodies.

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>`

Inheritance diagram for chrono::ChLoadBodyBodyTorque:
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Collaboration diagram for chrono::ChLoadBodyBodyTorque:
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## Public Member Functions
| ChLoadBodyBodyTorque (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChVector3d torque, bool local_torque)
virtual ChLoadBodyBodyTorque * | Clone () const override
| "Virtual" copy constructor (covariant return type).
void | SetModulationFunction (std::shared_ptr< ChFunction > modulation)
| Set modulation function.
Public Member Functions inherited from chrono::ChLoadBodyBody
| ChLoadBodyBody (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application)
ChVector3d | GetForce () const
| For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to body B.
ChVector3d | GetTorque () const
| For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in coordinate system of loc_application_B, assumed applied to body B.
void | SetApplicationFrameA (const ChFrame<> &mpA)
| Set the application frame of bushing on bodyA.
ChFrame | GetApplicationFrameA () const
void | SetApplicationFrameB (const ChFrame<> &mpB)
| Set the application frame of bushing on bodyB.
ChFrame | GetApplicationFrameB () const
ChFrameMoving | GetAbsoluteFrameA () const
| Get absolute coordinate of frame A (last computed).
ChFrameMoving | GetAbsoluteFrameB () const
| Get absolute coordinate of frame B (last computed).
std::shared_ptr< ChBody > | GetBodyA () const
std::shared_ptr< ChBody > | GetBodyB () const
Public Member Functions inherited from chrono::ChLoadCustomMultiple
| ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable > > &loadable_objects)
| ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB)
| ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC)
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::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > > | loadables
ChVectorDynamic | load_Q
Protected Member Functions inherited from chrono::ChLoadBodyBody
virtual void | ComputeQ (ChState *state_x, ChStateDelta *state_w) override
| Compute the generalized load(s).
Protected Member Functions inherited from chrono::ChObj
int | GenerateUniqueIdentifier ()
Protected Attributes inherited from chrono::ChLoadBodyBody
ChFrame | loc_application_A
| application point on body A (local)
ChFrame | loc_application_B
| application point on body B (local)
ChVector3d | locB_force
| store computed values here
ChVector3d | locB_torque
| store computed values here
ChFrameMoving | frame_Aw
| for results
ChFrameMoving | frame_Bw
| for results
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

## ◆ ChLoadBodyBodyTorque()

chrono::ChLoadBodyBodyTorque::ChLoadBodyBodyTorque | ( | std::shared_ptr< ChBody > | bodyA,
|  | std::shared_ptr< ChBody > | bodyB,
|  | const ChVector3d | torque,
|  | bool | local_torque )

Parameters

  bodyA | first body
  bodyB | second body
  torque | applied torque
  local_torque | torque is in bodyB local coords

## Member Function Documentation

## ◆ Clone()

virtual ChLoadBodyBodyTorque * chrono::ChLoadBodyBodyTorque::Clone | ( |  | ) | const
| inlineoverridevirtual

"Virtual" copy constructor (covariant return type).

Implements chrono::ChObj.

## ◆ SetModulationFunction()

void chrono::ChLoadBodyBodyTorque::SetModulationFunction | ( | std::shared_ptr< ChFunction > | modulation | ) |
| inline

Set modulation function.

This is a function of time which (optionally) modulates the specified applied torque. By default the modulation is a constant function, always returning a value of 1.

The documentation for this class was generated from the following files:

- D:/W/B/src/chrono-9.0.1/src/chrono/physics/ChLoadsBody.h
- D:/W/B/src/chrono-9.0.1/src/chrono/physics/ChLoadsBody.cpp