MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChLcpConstraintTwo Class Reference

#include <CHlcpConstraintTwo.h>

Inheritance diagram for chrono::ChLcpConstraintTwo:

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Collaboration diagram for chrono::ChLcpConstraintTwo:

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List of all members.

Public Member Functions
	ChLcpConstraintTwo ()
	ChLcpConstraintTwo (const ChLcpConstraintTwo &other)
ChLcpConstraintTwo &	operator= (const ChLcpConstraintTwo &other)
virtual ChMatrix < float > *	Get_Cq_a ()=0
virtual ChMatrix < float > *	Get_Cq_b ()=0
virtual ChMatrix < float > *	Get_Eq_a ()=0
virtual ChMatrix < float > *	Get_Eq_b ()=0
ChLcpVariables *	GetVariables_a ()
ChLcpVariables *	GetVariables_b ()
virtual void	SetVariables (ChLcpVariables *mvariables_a, ChLcpVariables *mvariables_b)=0
virtual void	StreamIN (ChStreamInBinary &mstream)
virtual void	StreamOUT (ChStreamOutBinary &mstream)
Protected Attributes
ChLcpVariables *	variables_a
ChLcpVariables *	variables_b

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Detailed Description

This class is inherited by the base ChLcpConstraint(), which does almost nothing. So here this class implements the functionality for a constrint between a COUPLE of TWO objects of type ChLcpVariables(), and defines two constraint matrices, whose column number automatically matches the number of elements in variables vectors. Before starting the LCP solver one must provide the proper values in constraints (and update them if necessary), i.e. must set at least the c_i and b_i values, and jacobians.

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Constructor & Destructor Documentation

chrono::ChLcpConstraintTwo::ChLcpConstraintTwo

(

)

Default constructor.

chrono::ChLcpConstraintTwo::ChLcpConstraintTwo

(

const ChLcpConstraintTwo &

other

)

Copy constructor.

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Member Function Documentation

ChLcpConstraintTwo & chrono::ChLcpConstraintTwo::operator=

(

const ChLcpConstraintTwo &

other

)

Assignment operator: copy from other object.

virtual ChMatrix<float>* chrono::ChLcpConstraintTwo::Get_Cq_a

(

)

[pure virtual]

Access jacobian matrix.

Implemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, and chrono::ChLcpConstraintTwoGPUcontT.

virtual ChMatrix<float>* chrono::ChLcpConstraintTwo::Get_Cq_b

(

)

[pure virtual]

Access jacobian matrix.

Implemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, and chrono::ChLcpConstraintTwoGPUcontT.

virtual ChMatrix<float>* chrono::ChLcpConstraintTwo::Get_Eq_a

(

)

[pure virtual]

Access auxiliary matrix (ex: used by iterative solvers).

Implemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, and chrono::ChLcpConstraintTwoGPUcontT.

virtual ChMatrix<float>* chrono::ChLcpConstraintTwo::Get_Eq_b

(

)

[pure virtual]

Access auxiliary matrix (ex: used by iterative solvers).

Implemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, and chrono::ChLcpConstraintTwoGPUcontT.

ChLcpVariables* chrono::ChLcpConstraintTwo::GetVariables_a

(

)

Access the first variable object.

ChLcpVariables* chrono::ChLcpConstraintTwo::GetVariables_b

(

)

Access the second variable object.

virtual void chrono::ChLcpConstraintTwo::SetVariables	(	ChLcpVariables *	mvariables_a,
		ChLcpVariables *	mvariables_b
	)			[pure virtual]

Set references to the constrained objects, each of ChLcpVariables type, automatically creating/resizing jacobians if needed.

Implemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, and chrono::ChLcpConstraintTwoGPUcontT.

void chrono::ChLcpConstraintTwo::StreamIN

(

ChStreamInBinary &

mstream

)

[virtual]

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

Reimplemented from chrono::ChLcpConstraint.

Reimplemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoContact, chrono::ChLcpConstraintTwoContactN, chrono::ChLcpConstraintTwoFriction, chrono::ChLcpConstraintTwoFrictionApprox, chrono::ChLcpConstraintTwoFrictionT, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, chrono::ChLcpConstraintTwoGPUcontT, chrono::ChLcpConstraintTwoRollingN, and chrono::ChLcpConstraintTwoRollingT.

void chrono::ChLcpConstraintTwo::StreamOUT

(

ChStreamOutBinary &

mstream

)

[virtual]

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

Reimplemented from chrono::ChLcpConstraint.

Reimplemented in chrono::ChLcpConstraintTwoBodies, chrono::ChLcpConstraintTwoContact, chrono::ChLcpConstraintTwoContactN, chrono::ChLcpConstraintTwoFriction, chrono::ChLcpConstraintTwoFrictionApprox, chrono::ChLcpConstraintTwoFrictionT, chrono::ChLcpConstraintTwoGeneric, chrono::ChLcpConstraintTwoGPUcontN, chrono::ChLcpConstraintTwoGPUcontT, chrono::ChLcpConstraintTwoRollingN, and chrono::ChLcpConstraintTwoRollingT.

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Member Data Documentation

ChLcpVariables* chrono::ChLcpConstraintTwo::variables_a [protected]

The first constrained object.

ChLcpVariables* chrono::ChLcpConstraintTwo::variables_b [protected]

The second constrained object.

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