Description

Template for an anti-roll subsystem using an RSD.

Base class for an anti-roll bar template modeled two arms connected with a revolute spring-damper. Derived from ChAntirollBar, but still and abstract base class.

The anti-roll bar subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The subsystem reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

#include <ChAntirollBarRSD.h>

Inheritance diagram for chrono::vehicle::ChAntirollBarRSD:
Collaboration diagram for chrono::vehicle::ChAntirollBarRSD:

Public Member Functions

 ChAntirollBarRSD (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, std::shared_ptr< ChBody > susp_body_left, std::shared_ptr< ChBody > susp_body_right) override
 The anti-roll bar 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). More...
 
virtual double GetMass () const override
 Get the total mass of the anti-roll bar subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the anti-roll bar subsystem.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChAntirollBar
 ChAntirollBar (const std::string &name)
 
- 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.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from 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.
 

Protected Member Functions

virtual double getArmMass () const =0
 Return the mass of the arm body.
 
virtual ChVector getArmInertia ()=0
 Return the moments of inertia of the arm body.
 
virtual double getArmLength () const =0
 Return the arm length (dimension in y direction).
 
virtual double getArmWidth () const =0
 Return the arm width (dimension in X direction).
 
virtual double getDroplinkHeight () const =0
 Return height of droplinks (dimension in Z direction).
 
virtual double getArmRadius () const =0
 Return radius of arm (visualization only)
 
virtual double getSpringCoefficient () const =0
 Return the rotational spring coefficient.
 
virtual double getDampingCoefficient () const =0
 Return the rotational damping coefficient.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

std::shared_ptr< ChBodym_arm_left
 handle to the left arm body
 
std::shared_ptr< ChBodym_arm_right
 handle to the right arm body
 
std::shared_ptr< ChLinkLockRevolutem_revolute_ch
 handle to revolute joint to chassis
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to central revolute joint
 
std::shared_ptr< ChLinkDistancem_link_left
 handle to the left droplink distance constraint
 
std::shared_ptr< ChLinkDistancem_link_right
 handle to the right droplink distance constraint
 
- 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...
 
- 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< ChLinkSpringCB >> 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.
 

Constructor & Destructor Documentation

chrono::vehicle::ChAntirollBarRSD::ChAntirollBarRSD ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

void chrono::vehicle::ChAntirollBarRSD::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location,
std::shared_ptr< ChBody susp_body_left,
std::shared_ptr< ChBody susp_body_right 
)
overridevirtual

The anti-roll bar 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. Finally, susp_body_left and susp_body_right are handles to the suspension bodies to which the anti-roll bar's droplinks are to be attached.

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame
[in]susp_body_leftsusp body to which left droplink is connected
[in]susp_body_rightsusp body to which right droplink is connected

Implements chrono::vehicle::ChAntirollBar.