Prescribing Kinematics for a ChBody at the Next Timestep

[Matt Tuman]

Hi All,

I'm working on a simulation where I need to prescribe the kinematics (position, velocity, and acceleration) of a ChBody one timestep ahead, rather than at the current time. I understand that SetPos(), SetVel(), and related methods can be used to prescribe the current position and velocity of a body. However, I'm looking for functionality more similar to the rheonomic constraints like ChLinkMotor classes that use time-dependent functions to define motion.

My questions are the following:

1. Is there currently a way to specify kinematics of a ChBody at the next time step? I have been unable to find it thus far.

2.   If this functionality doesn’t exist, do you have any recommendations for how to implement it? Would extending an existing ChLinkMotor or using a custom constraint be appropriate?  

Thanks!
Matt

[Radu Serban]

Hi Matt,

 

Look at ChLinkMotionImposed and demos such as demo_MBS_imposed_motion and demo_ROBOT_Industrial that use it.

 

--Radu

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[Matt Tuman]

Thank you very much!

On Jul 11, 2025, at 11:46 PM, 'Radu Serban' via ProjectChrono <projec...@googlegroups.com> wrote:



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