Description

Base class for a suspension subsystem.

#include <ChSuspension.h>

Inheritance diagram for chrono::vehicle::ChSuspension:

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Collaboration diagram for chrono::vehicle::ChSuspension:

Public Member Functions
	ChSuspension (const std::string &name)

virtual bool	IsSteerable () const =0
	Specify whether or not this suspension can be steered.

virtual bool	IsIndependent () const =0
	Specify whether or not this is an independent suspension.

const ChVector &	GetLocation () const
	Get the location of the suspension subsystem relative to the chassis reference frame. More...

std::shared_ptr< ChBody >	GetSpindle (VehicleSide side) const
	Get a handle to the spindle body on the specified side.

std::shared_ptr< ChShaft >	GetAxle (VehicleSide side) const
	Get a handle to the axle shaft on the specified side.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute (VehicleSide side) const
	Get a handle to the revolute joint on the specified side.

const ChVector &	GetSpindlePos (VehicleSide side) const
	Get the global location of the spindle on the specified side.

const ChQuaternion &	GetSpindleRot (VehicleSide side) const
	Get the orientation of the spindle body on the specified side. More...

const ChVector &	GetSpindleLinVel (VehicleSide side) const
	Get the linear velocity of the spindle body on the specified side. More...

ChVector	GetSpindleAngVel (VehicleSide side) const
	Get the angular velocity of the spindle body on the specified side. More...

double	GetAxleSpeed (VehicleSide side) const
	Get the angular speed of the axle on the specified side.

int	GetSteeringIndex () const
	Get the index of the associated steering index (-1 if non-steered).

void	Synchronize ()
	Synchronize this suspension subsystem. More...

void	ApplyAxleTorque (VehicleSide side, double torque)
	Apply the provided motor torque. More...

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, std::shared_ptr< ChBody > tierod_body, int steering_index, double left_ang_vel=0, double right_ang_vel=0)=0
	Initialize this suspension subsystem. More...

virtual double	getSpindleRadius () const =0
	Return the radius of the spindle body (visualization only).

virtual double	getSpindleWidth () const =0
	Return the width of the spindle body (visualization only).

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the suspension subsystem. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the suspension subsystem.

virtual std::shared_ptr< ChBody >	GetLeftBody () const
	Specify the left body for a possible antirollbar subsystem. More...

virtual std::shared_ptr< ChBody >	GetRightBody () const
	Specify the right body for a possible antirollbar subsystem. More...

virtual double	GetMass () const =0
	Get the total mass of the suspension subsystem.

virtual ChVector	GetCOMPos () const =0
	Get the current global COM location of the suspension subsystem.

virtual double	GetTrack ()=0
	Get the wheel track for the suspension subsystem.

virtual Force	ReportSuspensionForce (VehicleSide side) const =0
	Return current suspension forces (spring and shock) on the specified side. More...

virtual void	LogConstraintViolations (VehicleSide side)
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name. More...

const std::string &	GetName () const
	Get the name identifier for this subsystem.

void	SetName (const std::string &name)
	Set the name identifier for this subsystem.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

void	SetContactFrictionCoefficient (float friction_coefficient)
	Set coefficient of friction. More...

void	SetContactRestitutionCoefficient (float restitution_coefficient)
	Set coefficient of restitution. More...

void	SetContactMaterialProperties (float young_modulus, float poisson_ratio)
	Set contact material properties. More...

void	SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
	Set contact material coefficients. More...

float	GetCoefficientFriction () const
	Get coefficient of friction for contact material.

float	GetCoefficientRestitution () const
	Get coefficient of restitution for contact material.

float	GetYoungModulus () const
	Get Young's modulus of elasticity for contact material.

float	GetPoissonRatio () const
	Get Poisson ratio for contact material.

float	GetKn () const
	Get normal stiffness coefficient for contact material.

float	GetKt () const
	Get tangential stiffness coefficient for contact material.

float	GetGn () const
	Get normal viscous damping coefficient for contact material.

float	GetGt () const
	Get tangential viscous damping coefficient for contact material.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Attributes
ChVector	m_location
	location relative to chassis

int	m_steering_index
	index of associated steering mechanism

std::shared_ptr< ChBody >	m_spindle [2]
	handles to spindle bodies

std::shared_ptr< ChShaft >	m_axle [2]
	handles to axle shafts

std::shared_ptr< ChShaftsBody >	m_axle_to_spindle [2]
	handles to spindle-shaft connectors

std::shared_ptr< ChLinkLockRevolute >	m_revolute [2]
	handles to spindle revolute joints

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_output
	specifies whether or not output is generated for this subsystem

float	m_friction
	contact coefficient of friction

float	m_restitution
	contact coefficient of restitution

float	m_young_modulus
	contact material Young modulus

float	m_poisson_ratio
	contact material Poisson ratio

float	m_kn
	normal contact stiffness

float	m_gn
	normal contact damping

float	m_kt
	tangential contact stiffness

float	m_gt
	tangential contact damping

Additional Inherited Members
Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
	Utility function for transforming inertia tensors between centroidal frames. More...

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void	ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
	Export the list of bodies to the specified JSON document.

static void	ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
	Export the list of shafts to the specified JSON document.

static void	ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
	Export the list of joints to the specified JSON document.

static void	ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
	Export the list of shaft couples to the specified JSON document.

static void	ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
	Export the list of markers to the specified JSON document.

static void	ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
	Export the list of translational springs to the specified JSON document.

static void	ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRotSpringCB >> springs)
	Export the list of rotational springs to the specified JSON document.

static void	ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
	Export the list of body-body loads to the specified JSON document.

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChSuspension::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the suspension subsystem.

This default implementation uses primitives for spindle visualization.

Reimplemented from chrono::vehicle::ChPart.

◆ ApplyAxleTorque()

void chrono::vehicle::ChSuspension::ApplyAxleTorque	(	VehicleSide	side,
		double	torque
	)

Apply the provided motor torque.

The given torque is applied to the specified (left or right) axle. This function provides the interface to the drivetrain subsystem (intermediated by the vehicle system).

Parameters

side	indicates the axle (left or right) where the torque should be applied
torque	value of applied torque

◆ GetLeftBody()

virtual std::shared_ptr<ChBody> chrono::vehicle::ChSuspension::GetLeftBody ( ) const

inlinevirtual

Specify the left body for a possible antirollbar subsystem.

The default implementation returns a NULL pointer.

Reimplemented in chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChMultiLink, chrono::vehicle::ChSemiTrailingArm, and chrono::vehicle::ChDoubleWishboneReduced.

◆ GetLocation()

const ChVector& chrono::vehicle::ChSuspension::GetLocation ( ) const

inline

Get the location of the suspension subsystem relative to the chassis reference frame.

The suspension reference frame is always aligned with the chassis reference frame.

◆ GetRightBody()

virtual std::shared_ptr<ChBody> chrono::vehicle::ChSuspension::GetRightBody ( ) const

inlinevirtual

Specify the right body for a possible antirollbar subsystem.

The default implementation returns a NULL pointer.

Reimplemented in chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChMultiLink, chrono::vehicle::ChSemiTrailingArm, and chrono::vehicle::ChDoubleWishboneReduced.

◆ GetSpindleAngVel()

ChVector chrono::vehicle::ChSuspension::GetSpindleAngVel ( VehicleSide side ) const

inline

Get the angular velocity of the spindle body on the specified side.

Return the angular velocity of the spindle frame, expressed in the global reference frame.

◆ GetSpindleLinVel()

const ChVector& chrono::vehicle::ChSuspension::GetSpindleLinVel ( VehicleSide side ) const

inline

Get the linear velocity of the spindle body on the specified side.

Return the linear velocity of the spindle center, expressed in the global reference frame.

◆ GetSpindleRot()

const ChQuaternion& chrono::vehicle::ChSuspension::GetSpindleRot ( VehicleSide side ) const

inline

Get the orientation of the spindle body on the specified side.

The spindle body orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

◆ Initialize()

virtual void chrono::vehicle::ChSuspension::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location,
		std::shared_ptr< ChBody >	tierod_body,
		int	steering_index,
		double	left_ang_vel = `0`,
		double	right_ang_vel = `0`
	)

pure virtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. 'tierod_body' is a handle to the body to which the suspension tierods are to be attached. For a steered suspension, this will be the steering (central) link of a suspension subsystem. Otherwise, this is the chassis. If this suspension is steered, 'steering_index' indicates the index of the associated steering mechanism in the vehicle's list (-1 for a non-steered suspension).

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame
[in]	tierod_body	body to which tireods are connected
[in]	steering_index	index of the associated steering mechanism
[in]	left_ang_vel	initial angular velocity of left wheel
[in]	right_ang_vel	initial angular velocity of right wheel

◆ ReportSuspensionForce()

virtual Force chrono::vehicle::ChSuspension::ReportSuspensionForce ( VehicleSide side ) const

pure virtual

Return current suspension forces (spring and shock) on the specified side.

Different derived types (suspension templates) may load different quantities in the output struct.

◆ Synchronize()

void chrono::vehicle::ChSuspension::Synchronize ( )

Synchronize this suspension subsystem.

This function must be called before synchronizing any wheels associated with this suspension.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSuspension.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSuspension.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddVisualizationAssets()

◆ ApplyAxleTorque()

◆ GetLeftBody()

◆ GetLocation()

◆ GetRightBody()

◆ GetSpindleAngVel()

◆ GetSpindleLinVel()

◆ GetSpindleRot()

◆ Initialize()

◆ ReportSuspensionForce()

◆ Synchronize()