Description

Concrete class for a flat horizontal terrain with an uneven area.

This class implements a terrain modeled as an infinite horizontal plane at a specified height. This type of terrain can be used in conjunction with tire models that perform their own collision detection (e.g. ChPacejkaTire, ChFiala, and ChLugreTire).

#include <RandomSurfaceTerrain.h>

Inheritance diagram for chrono::vehicle::RandomSurfaceTerrain:

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Collaboration diagram for chrono::vehicle::RandomSurfaceTerrain:

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Public Types
enum	SurfaceType { FLAT, ISO8608_A_NOCORR, ISO8608_B_NOCORR, ISO8608_C_NOCORR, ISO8608_D_NOCORR, ISO8608_E_NOCORR, ISO8608_F_NOCORR, ISO8608_G_NOCORR, ISO8608_H_NOCORR, ISO8608_A_CORR, ISO8608_B_CORR, ISO8608_C_CORR, ISO8608_D_CORR, ISO8608_E_CORR, MAJOR_ROAD_ASPHALTIC_CONCRETE, MAJOR_ROAD_CONCRETE, MAIN_ROAD_ASPHALTIC_CONCRETE_ON_PAVEMENT, MAIN_ROAD_ASPHALTIC_CONCRETE, TRACK_TILED_CONCRETE_PAVEMENT }

enum	VisualisationType { NONE, LINES, MESH }

Public Member Functions
	RandomSurfaceTerrain (ChSystem *system, double length=300.0, double width=5.0, double height=0.0, float friction=0.8f)

virtual double	GetHeight (const ChVector<> &loc) const override
	Get the terrain height below the specified location. More...

virtual ChVector	GetNormal (const ChVector<> &loc) const override
	Get the terrain normal at the point below the specified location. More...

virtual float	GetCoefficientFriction (const ChVector<> &loc) const override
	Get the terrain coefficient of friction at the point below the specified location. More...

double	GetRMS ()
	Get the (detrended) root mean square of the tracks, height offset is not considered [m].

double	GetIRI ()
	Get the International Roughness Index, estimated from unevenness and waviness [m/km].

void	Initialize (RandomSurfaceTerrain::SurfaceType surfType=RandomSurfaceTerrain::SurfaceType::FLAT, double vehicleTrackWidth=2.0, RandomSurfaceTerrain::VisualisationType vType=RandomSurfaceTerrain::VisualisationType::MESH)
	Select a road surface from presets, ISO 8608 and literature.

void	Initialize (double unevenness, double waviness=2.0, double vehicleTrackWidth=2.0, bool considerCorrelation=true, RandomSurfaceTerrain::VisualisationType vType=RandomSurfaceTerrain::VisualisationType::MESH)
	Directly generate a road surface from unevenness and waviness, optional consideration of correlation, if unevenness fits between ISO classes A to E.

void	Initialize (double iri, double vehicleTrackWidth=2.0, bool considerCorrelation=true, RandomSurfaceTerrain::VisualisationType vType=RandomSurfaceTerrain::VisualisationType::MESH)
	Directly generate a road surface from International Roughness Index [mm/m], optional consideration of correlation, if unevenness fits between ISO classes A to E.

Public Member Functions inherited from chrono::vehicle::ChTerrain
virtual void	Synchronize (double time)
	Update the state of the terrain system at the specified time.

virtual void	Advance (double step)
	Advance the state of the terrain system by the specified duration.

void	RegisterFrictionFunctor (FrictionFunctor *functor)
	Specify the functor object to provide the coefficient of friction at given (x,y) locations.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChTerrain
FrictionFunctor *	m_friction_fun
	functor for location-dependent coefficient of friction

Constructor & Destructor Documentation

◆ RandomSurfaceTerrain()

chrono::vehicle::RandomSurfaceTerrain::RandomSurfaceTerrain	(	ChSystem *	system,
		double	length = `300.0`,
		double	width = `5.0`,
		double	height = `0.0`,
		float	friction = `0.8f`
	)

Parameters

[in]	system	pointer to the containing multibody system
[in]	length	uneven terrain length
[in]	width	uneven terrain width
[in]	height	terrain height offset
[in]	friction	terrain coefficient of friction

Member Function Documentation

◆ GetCoefficientFriction()

float chrono::vehicle::RandomSurfaceTerrain::GetCoefficientFriction ( const ChVector<> & loc ) const

overridevirtual

Get the terrain coefficient of friction at the point below the specified location.

This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For RandomSurfaceTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified at construction.

Reimplemented from chrono::vehicle::ChTerrain.