Project Chrono: chrono::ChStateDelta Class Reference

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

## Description

Class for incremental form of state of time-integrable objects.

Note that for many cases, this would be superfluous, because one could do y_new = y_old + dydt*dt, where dydt is a ChState just like y and y_new, but there are cases where such simple "+" operation between vectors is not practical, for instance when integrating rotations in 3D space, where it is better to work with quaternions in y and y_new, but with spinors/angular velocities/etc. in dydt; so dim(y) is not dim(dydt); hence the need of this specific class for increments in states. This is a vector (one-column matrix) which extends ChVectorDynamic.

`#include <ChState.h>`

## Public Member Functions
| ChStateDelta (ChIntegrable *intgr=0)
| Constructors.
| ChStateDelta (Eigen::Index size, ChIntegrable *intgr)
| ChStateDelta (ChVectorConstRef vec, ChIntegrable *intgr)
| ChStateDelta (const ChStateDelta &other)
| Copy constructor.
template<typename OtherDerived>
ChStateDelta & | operator= (const Eigen::MatrixBase< OtherDerived > &other)
| This method allows assigning Eigen expressions to ChStateDelta.
ChStateDelta | operator- ()
| Unary minus operator.
ChStateDelta & | operator*= (double factor)
| Scale this state by the given value.
ChStateDelta | operator+ (ChVectorConstRef vec) const
| Return the sum of this state and another vector.
ChStateDelta | operator- (ChVectorConstRef vec) const
| Return the difference of this state vector and another vector.
ChStateDelta | operator* (double factor) const
| Return this state vector scaled by the given value.
void | setZero (Eigen::Index size, ChIntegrable *intgr)
| Reset to zeroes and (if needed) changes the size.
ChIntegrable * | GetIntegrable () const

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

- D:/W/B/src/chrono-9.0.1/src/chrono/timestepper/ChState.h