chrono::vehicle::ChChassis Class Referenceabstract

Description

Base class for the chassis vehicle subsystem.

#include <ChChassis.h>

Inheritance diagram for chrono::vehicle::ChChassis:
Collaboration diagram for chrono::vehicle::ChChassis:

Public Member Functions

 ChChassis (const std::string &name, bool fixed=false)
 Construct a vehicle subsystem with the specified name. More...
 
virtual double GetMass () const =0
 Get the chassis mass.
 
virtual const ChMatrix33 & GetInertia () const =0
 Get the inertia tensor of the chassis body. More...
 
virtual const ChVectorGetLocalPosCOM () const =0
 Get the location of the center of mass in the chassis frame.
 
virtual ChCoordsys GetLocalDriverCoordsys () const =0
 Get the local driver position and orientation. More...
 
std::shared_ptr< ChBodyAuxRefGetBody () const
 Get a handle to the vehicle's chassis body.
 
const ChVectorGetPos () const
 Get the global location of the chassis reference frame origin.
 
const ChQuaternionGetRot () const
 Get the orientation of the chassis reference frame. More...
 
const ChVectorGetCOMPos () const
 Get the global location of the chassis center of mass.
 
const ChQuaternionGetCOMRot () const
 Get the orientation of the chassis centroidal frame. More...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
double GetSpeed () const
 Get the vehicle speed. More...
 
double GetCOMSpeed () const
 Get the speed of the chassis COM. More...
 
ChVector GetPointLocation (const ChVector<> &locpos) const
 Get the global position of the specified point. More...
 
ChVector GetPointVelocity (const ChVector<> &locpos) const
 Get the global velocity of the specified point. More...
 
ChVector GetPointAcceleration (const ChVector<> &locpos) const
 Get the acceleration at the specified point. More...
 
virtual void Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0)
 Initialize the chassis at the specified global position and orientation. More...
 
virtual void SetCollide (bool state)=0
 Enable/disable contact for the chassis. More...
 
void SetFixed (bool val)
 Set the "fixed to ground" status of the chassis body.
 
bool IsFixed () const
 Return true if the chassis body is fixed to ground.
 
void AddMarker (const std::string &name, const ChCoordsys<> &pos)
 Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...
 
const std::vector< std::shared_ptr< ChMarker > > & GetMarkers () const
 
void SetAerodynamicDrag (double Cd, double area, double air_density)
 Set parameters and enable aerodynamic drag force calculation. More...
 
virtual void Synchronize (double time)
 Update the state of the chassis subsystem. More...
 
- 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.
 
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.
 
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

std::shared_ptr< ChBodyAuxRefm_body
 handle to the chassis body
 
std::vector< std::shared_ptr< ChMarker > > m_markers
 list of user-defined markers
 
bool m_fixed
 is the chassis body fixed to ground?
 
bool m_apply_drag
 enable aerodynamic drag force?
 
double m_Cd
 drag coefficient
 
double m_area
 reference area (m2)
 
double m_air_density
 air density (kg/m3)
 
- 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< 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::ChChassis::ChChassis ( const std::string &  name,
bool  fixed = false 
)

Construct a vehicle subsystem with the specified name.

Parameters
[in]namename of the subsystem
[in]fixedis the chassis body fixed to ground?

Member Function Documentation

void chrono::vehicle::ChChassis::AddMarker ( const std::string &  name,
const ChCoordsys<> &  pos 
)

Add a marker on the chassis body at the specified position (relative to the chassis reference frame).

If called before initialization, this function has no effect.

Parameters
[in]namemarker name
[in]posmarker position relative to chassis reference frame
const ChQuaternion& chrono::vehicle::ChChassis::GetCOMRot ( ) const

Get the orientation of the chassis centroidal frame.

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

double chrono::vehicle::ChChassis::GetCOMSpeed ( ) const

Get the speed of the chassis COM.

Return the speed measured at the chassis center of mass.

virtual const ChMatrix33& chrono::vehicle::ChChassis::GetInertia ( ) const
pure virtual

Get the inertia tensor of the chassis body.

The return 3x3 symmetric matrix contains the following values:

 [ int{x^2+z^2}dm    -int{xy}dm    -int{xz}dm    ]
 [                  int{x^2+z^2}   -int{yz}dm    ]
 [                                int{x^2+y^2}dm ]

and represents the inertia tensor with respect to a centroidal frame aligned with the chassis reference frame.

Implemented in chrono::vehicle::citybus::CityBus_Chassis, chrono::vehicle::hmmwv::HMMWV_Chassis, chrono::vehicle::m113::M113_Chassis, chrono::vehicle::sedan::Sedan_Chassis, chrono::vehicle::uaz::UAZBUS_Chassis, chrono::vehicle::m113::M113a_Chassis, chrono::vehicle::RigidChassis, and chrono::vehicle::generic::Generic_Chassis.

virtual ChCoordsys chrono::vehicle::ChChassis::GetLocalDriverCoordsys ( ) const
pure virtual
ChVector chrono::vehicle::ChChassis::GetPointAcceleration ( const ChVector<> &  locpos) const

Get the acceleration at the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

ChVector chrono::vehicle::ChChassis::GetPointLocation ( const ChVector<> &  locpos) const

Get the global position of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned location is expressed in the global reference frame.

ChVector chrono::vehicle::ChChassis::GetPointVelocity ( const ChVector<> &  locpos) const

Get the global velocity of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned velocity is expressed in the global reference frame.

const ChQuaternion& chrono::vehicle::ChChassis::GetRot ( ) const

Get the orientation of the chassis reference frame.

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

double chrono::vehicle::ChChassis::GetSpeed ( ) const

Get the vehicle speed.

Return the speed measured at the origin of the chassis reference frame.

void chrono::vehicle::ChChassis::Initialize ( ChSystem system,
const ChCoordsys<> &  chassisPos,
double  chassisFwdVel,
int  collision_family = 0 
)
virtual

Initialize the chassis at the specified global position and orientation.

Parameters
[in]systemcontaining system
[in]chassisPosabsolute chassis position
[in]chassisFwdVelinitial chassis forward velocity
[in]collision_familychassis collision family

Reimplemented in chrono::vehicle::ChRigidChassis.

void chrono::vehicle::ChChassis::SetAerodynamicDrag ( double  Cd,
double  area,
double  air_density 
)

Set parameters and enable aerodynamic drag force calculation.

By default, aerodynamic drag force calculation is disabled.

Parameters
[in]Cddrag coefficient
[in]areareference area
[in]air_densityair density
virtual void chrono::vehicle::ChChassis::SetCollide ( bool  state)
pure virtual

Enable/disable contact for the chassis.

This function controls contact of the chassis with all other collision shapes in the simulation.

Implemented in chrono::vehicle::ChRigidChassis.

void chrono::vehicle::ChChassis::Synchronize ( double  time)
virtual

Update the state of the chassis subsystem.

The base class implementation applies aerodynamic drag forces to the chassis body (if enabled).