MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChFunction_Sequence Class Reference

#include <CHfunction.h>

Inheritance diagram for chrono::ChFunction_Sequence:

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Collaboration diagram for chrono::ChFunction_Sequence:

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List of all members.

Public Member Functions

void Copy (ChFunction_Sequence *source)

ChFunction * new_Duplicate ()

int Get_Type ()

void Set_start (double m_start)

double Get_start ()

ChList< ChFseqNode > * Get_list ()

void Setup ()

int InsertFunct (ChFunction *myfx, double duration, double weight, bool c0, bool c1, bool c2, int position)

int KillFunct (int position)

ChFunction * GetNthFunction (int position)

ChFseqNode * GetNthNode (int position)

double GetNthDuration (int position)

double Get_y (double x)

double Get_y_dx (double x)

double Get_y_dxdx (double x)

double Get_weight (double x)

void Extimate_x_range (double &xmin, double &xmax)

int MakeOptVariableTree (ChList< chjs_propdata > *mtree)

int HandleNumber ()

int HandleAccess (int handle_id, double mx, double my, bool set_mode)

void StreamOUT (ChStreamOutAscii &mstream)

void StreamIN (ChStreamInBinary &mstream)

void StreamOUT (ChStreamOutBinary &mstream)

Detailed Description

SEQUENCE FUNCTION: y = sequence_of_functions(f1(y), f2(y), f3(y)) All other function types can be inserted into this. This function is very important because very complex motion laws can be created by sequencing many basic ChFunctions.

Member Function Documentation

int chrono::ChFunction_Sequence::Get_Type ( ) [virtual]

Each class inherited from the ChFunction class must return an unique integer identifier with the virtual function Get_type(). This is useful for run-time downcasting etc.

Reimplemented from chrono::ChFunction.

void chrono::ChFunction_Sequence::Set_start ( double m_start )

The sequence of functions starts at this x value.

ChList<ChFseqNode>* chrono::ChFunction_Sequence::Get_list ( )

Access the list of the sub-functions.

void chrono::ChFunction_Sequence::Setup ( )

Scans all the seq.of functions and setup the timings and continuity offsets, to satisfy all constraints. This must be called whenever a new function is inserted, or its timing and continuity constraints are changed.

int chrono::ChFunction_Sequence::InsertFunct	(	ChFunction *	myfx,
		double	duration,
		double	weight,
		bool	c0,
		bool	c1,
		bool	c2,
		int	position
	)

Insert function after the fx with defined "position" index in list.

If index is higher than available objects, it simply goes to the end.
If index = 0 insert at the beginning,
If index = -1 insert at the end. Inserted functions will be deleted automatically when this object will be deleted. The fx segment has its own 'weight': use 1.0 for default, or different weights if you want that Get_weight() will give different results depending on the "x" parameter. Set c0=true if you want to force C0 continuity with previous function (an offset will be implicitly added to the function, as y=f(x)+Offset). Same for C1 and C2 continuity, using c1 and c2 flags.

int chrono::ChFunction_Sequence::KillFunct ( int position )

Remove and deletes function with defined "position", and returns TRUE.

If position = 0, removes always head (beginning),

If position = -1 removes tail (end).

If position > max number of current nodes, removes tail anyway, but returns NULL.

ChFunction * chrono::ChFunction_Sequence::GetNthFunction ( int position )

Returns the ChFunction with given "position".

If position = 0, returns always head (beginning),
If position = -1 returns tail (end).
If position > max number of current nodes, returns tail fx anyway.

ChFseqNode * chrono::ChFunction_Sequence::GetNthNode ( int position )

As above, but returns the function node (containing function pointer, function duration, continuity flags with previous node, etc.)

double chrono::ChFunction_Sequence::GetNthDuration ( int position )

As above, but returning duration. (return value is reference, so it can be also changed later, but remember Setup() for the ChFunction_Sequence after you modified this return value by reference ***TO DO***). If no function, returns 0.

double chrono::ChFunction_Sequence::Get_y ( double x ) [virtual]

Returns the y value of the function, at position x. (For this base class, it will be a constant value y=C).

Reimplemented from chrono::ChFunction.

double chrono::ChFunction_Sequence::Get_y_dx ( double x ) [virtual]

Returns the dy/dx derivative of the function, at position x. Note that inherited classes may also avoid overriding this method, because this base method already provide a general-purpose numerical differentiation to get dy/dx only from the Get_y() function. (however, if the analytical derivative is known, it may better to implement a custom method).

Reimplemented from chrono::ChFunction.

double chrono::ChFunction_Sequence::Get_y_dxdx ( double x ) [virtual]

Returns the ddy/dxdx double derivative of the function, at position x. Note that inherited classes may also avoid overriding this method, because this base method already provide a general-purpose numerical differentiation to get ddy/dxdx only from the Get_y() function. (however, if the analytical derivative is known, it may be better to implement a custom method).

Reimplemented from chrono::ChFunction.

double chrono::ChFunction_Sequence::Get_weight ( double x ) [virtual]

Returns the weight of the function (useful for applications where you need to mix different weighted ChFunctions)

Reimplemented from chrono::ChFunction.

void chrono::ChFunction_Sequence::Extimate_x_range	(	double &	xmin,
		double &	xmax
	)			`[virtual]`

These functions can be used to implement automatic zooming on the most representative range of function (if GUI is implemented)

Reimplemented from chrono::ChFunction.

int chrono::ChFunction_Sequence::HandleNumber ( ) [virtual]

If the function has some handles (mouse-sensible markers on screen), implement these functions:

Reimplemented from chrono::ChFunction.

int chrono::ChFunction_Sequence::HandleAccess	(	int	handle_id,
		double	mx,
		double	my,
		bool	set_mode
	)			`[virtual]`

Gets the x and y position of handle, given identifier. If set mode, x and y values are stored. Return false if handle not found.

Reimplemented from chrono::ChFunction.

void chrono::ChFunction_Sequence::StreamOUT ( ChStreamOutAscii & mstream ) [virtual]

Method to allow serialization of transient data in ascii, as a readable item, for example "chrono::GetLog() << myobject;"

Reimplemented from chrono::ChFunction.

void chrono::ChFunction_Sequence::StreamIN ( ChStreamInBinary & mstream ) [virtual]

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

Reimplemented from chrono::ChFunction.

void chrono::ChFunction_Sequence::StreamOUT ( ChStreamOutBinary & mstream ) [virtual]

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

Reimplemented from chrono::ChFunction.

CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen


Public Member Functions
void	Copy (ChFunction_Sequence *source)
ChFunction *	new_Duplicate ()
int	Get_Type ()
void	Set_start (double m_start)
double	Get_start ()
ChList< ChFseqNode > *	Get_list ()
void	Setup ()
int	InsertFunct (ChFunction *myfx, double duration, double weight, bool c0, bool c1, bool c2, int position)
int	KillFunct (int position)
ChFunction *	GetNthFunction (int position)
ChFseqNode *	GetNthNode (int position)
double	GetNthDuration (int position)
double	Get_y (double x)
double	Get_y_dx (double x)
double	Get_y_dxdx (double x)
double	Get_weight (double x)
void	Extimate_x_range (double &xmin, double &xmax)
int	MakeOptVariableTree (ChList< chjs_propdata > *mtree)
int	HandleNumber ()
int	HandleAccess (int handle_id, double mx, double my, bool set_mode)
void	StreamOUT (ChStreamOutAscii &mstream)
void	StreamIN (ChStreamInBinary &mstream)
void	StreamOUT (ChStreamOutBinary &mstream)