Description

Base class for a driveline subsystem.

#include <ChDriveline.h>

Inheritance diagram for chrono::vehicle::ChDriveline:
Collaboration diagram for chrono::vehicle::ChDriveline:

Public Member Functions

 ChDriveline (const std::string &name)
 
virtual int GetNumDrivenAxles () const =0
 Return the number of driven axles.
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, const ChSuspensionList &suspensions, const std::vector< int > &driven_axles)=0
 Initialize the driveline subsystem. More...
 
virtual void LockAxleDifferential (int axle, bool lock)
 Lock/unlock the differential on the specified axle. More...
 
virtual void LockCentralDifferential (int which, bool lock)
 Lock/unlock the specified central differential. More...
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. More...
 
virtual double GetDriveshaftSpeed () const
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double torque)
 Update the driveline subsystem: apply the specified motor torque. More...
 
const std::vector< int > & GetDrivenAxleIndexes () const
 Get the indexes of the vehicle's axles driven by this driveline subsystem.
 
virtual double GetWheelTorque (const WheelID &wheel_id) const =0
 Get the motor torque to be applied to the specified wheel.
 
- 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< ChShaftm_driveshaft
 handle to the shaft connection to the powertrain
 
std::vector< int > m_driven_axles
 indexes of the driven vehicle axles
 
- 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::ChDriveline::ChDriveline ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

std::shared_ptr<ChShaft> chrono::vehicle::ChDriveline::GetDriveshaft ( ) const

Get a handle to the driveshaft.

Return a shared pointer to the shaft that connects this driveline to a powertrain system (i.e., right after the transmission box).

virtual double chrono::vehicle::ChDriveline::GetDriveshaftSpeed ( ) const
virtual

Get the angular speed of the driveshaft.

This represents the output from the driveline subsystem that is passed to the powertrain system. The default implementation returns the driveline's driveshaft speed.

Reimplemented in chrono::vehicle::ChSimpleDriveline, and chrono::vehicle::generic::Generic_SimpleDriveline.

virtual void chrono::vehicle::ChDriveline::Initialize ( std::shared_ptr< ChBody chassis,
const ChSuspensionList suspensions,
const std::vector< int > &  driven_axles 
)
pure virtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the axles of the specified suspension subsystems.

Parameters
chassishandle to the chassis body
suspensionslist of all vehicle suspension subsystems
driven_axlesindexes of the driven vehicle axles

Implemented in chrono::vehicle::ChShaftsDriveline4WD, chrono::vehicle::ChShaftsDriveline2WD, chrono::vehicle::ChSimpleDriveline, and chrono::vehicle::generic::Generic_SimpleDriveline.

void chrono::vehicle::ChDriveline::LockAxleDifferential ( int  axle,
bool  lock 
)
virtual

Lock/unlock the differential on the specified axle.

By convention, axles are counted front to back, starting with index 0 for the front-most axle.

Reimplemented in chrono::vehicle::ChShaftsDriveline2WD, and chrono::vehicle::ChShaftsDriveline4WD.

void chrono::vehicle::ChDriveline::LockCentralDifferential ( int  which,
bool  lock 
)
virtual

Lock/unlock the specified central differential.

By convention, central differentials are counted from front to back, starting with index 0.

Reimplemented in chrono::vehicle::ChShaftsDriveline4WD, and chrono::vehicle::ChShaftsDriveline2WD.

virtual void chrono::vehicle::ChDriveline::Synchronize ( double  torque)
virtual

Update the driveline subsystem: apply the specified motor torque.

This represents the input to the driveline subsystem from the powertrain system. The default implementation applies this torque to the driveline's driveshaft.

Reimplemented in chrono::vehicle::ChSimpleDriveline, and chrono::vehicle::generic::Generic_SimpleDriveline.