MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChLcpVariablesBodyOwnMass Class Reference

#include <CHlcpVariablesBodyOwnMass.h>

Inheritance diagram for chrono::ChLcpVariablesBodyOwnMass:

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Collaboration diagram for chrono::ChLcpVariablesBodyOwnMass:

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List of all members.

Public Member Functions
ChLcpVariablesBodyOwnMass &	operator= (const ChLcpVariablesBodyOwnMass &other)
virtual double	GetBodyMass ()
virtual ChMatrix33 &	GetBodyInertia ()
ChMatrix33 &	GetBodyInvInertia ()
void	SetBodyInertia (const ChMatrix33<> *minertia)
void	SetBodyMass (const double mmass)
virtual void	Compute_invMb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)
virtual void	Compute_invMb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)
virtual void	Compute_inc_invMb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)
virtual void	Compute_inc_invMb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)
virtual void	Compute_Mb_v (ChMatrix< float > &result, const ChMatrix< float > &vect)
virtual void	Compute_Mb_v (ChMatrix< double > &result, const ChMatrix< double > &vect)
virtual void	Build_M (ChSparseMatrix &storage, int insrow, int inscol)

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Detailed Description

Specialized class for representing a 6-DOF item for a LCP system, that is a 3D rigid body, with mass matrix and associate variables (a 6 element vector, ex.speed) Differently from the 'naive' implementation ChLcpVariablesGeneric, here a full 6x6 mass matrix is not built, since only the 3x3 inertia matrix and the mass value are enough.

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Member Function Documentation

ChLcpVariablesBodyOwnMass & chrono::ChLcpVariablesBodyOwnMass::operator=

(

const ChLcpVariablesBodyOwnMass &

other

)

Assignment operator: copy from other object.

virtual double chrono::ChLcpVariablesBodyOwnMass::GetBodyMass

(

)

[virtual]

Get the mass associated with translation of body.

Implements chrono::ChLcpVariablesBody.

virtual ChMatrix33& chrono::ChLcpVariablesBodyOwnMass::GetBodyInertia

(

)

[virtual]

Access the 3x3 inertia matrix.

Implements chrono::ChLcpVariablesBody.

ChMatrix33& chrono::ChLcpVariablesBodyOwnMass::GetBodyInvInertia

(

)

[virtual]

Access the 3x3 inertia matrix inverted.

Implements chrono::ChLcpVariablesBody.

void chrono::ChLcpVariablesBodyOwnMass::SetBodyInertia

(

const ChMatrix33<> *

minertia

)

Set the inertia matrix.

void chrono::ChLcpVariablesBodyOwnMass::SetBodyMass

(

const double

mmass

)

Set the mass associated with translation of body.

virtual void chrono::ChLcpVariablesBodyOwnMass::Compute_invMb_v	(	ChMatrix< float > &	result,
		const ChMatrix< float > &	vect
	)			[virtual]

Computes the product of the inverse mass matrix by a vector, and set in result: result = [invMb]*vect

Implements chrono::ChLcpVariables.

virtual void chrono::ChLcpVariablesBodyOwnMass::Compute_inc_invMb_v	(	ChMatrix< float > &	result,
		const ChMatrix< float > &	vect
	)			[virtual]

Computes the product of the inverse mass matrix by a vector, and increment result: result += [invMb]*vect

Implements chrono::ChLcpVariables.

virtual void chrono::ChLcpVariablesBodyOwnMass::Compute_Mb_v	(	ChMatrix< float > &	result,
		const ChMatrix< float > &	vect
	)			[virtual]

Computes the product of the mass matrix by a vector, and set in result: result = [Mb]*vect

Implements chrono::ChLcpVariables.

virtual void chrono::ChLcpVariablesBodyOwnMass::Build_M	(	ChSparseMatrix &	storage,
		int	insrow,
		int	inscol
	)			[virtual]

Build the mass matrix (for these variables) storing it in 'storage' sparse matrix, at given column/row offset. This function is used only by the ChLcpSimplex solver (iterative solvers don't need to know mass matrix explicitly). Optimised: doesn't fill unneeded elements except mass and 3x3 inertia.

Implements chrono::ChLcpVariables.

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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