Description

Base class for a torsion-bar suspension system using linear dampers (template definition).

#include <ChLinearDamperRWAssembly.h>

Inheritance diagram for chrono::vehicle::ChLinearDamperRWAssembly:
Collaboration diagram for chrono::vehicle::ChLinearDamperRWAssembly:

Public Member Functions

 ChLinearDamperRWAssembly (const std::string &name, bool has_shock=true)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const override
 Get a handle to the carrier body.
 
virtual double GetCarrierAngle () const override
 Return the current pitch angle of the carrier body. More...
 
std::shared_ptr< ChLinkLockRevoluteGetArmRevolute () const
 Get a handle to the revolute joint of the arm.
 
virtual double GetMass () const override
 Get the total mass of the road-wheel assembly. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override
 Initialize this suspension subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the suspension subsystem.
 
void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChRoadWheelAssembly
 ChRoadWheelAssembly (const std::string &name, bool has_shock)
 
GuidePinType GetType () const
 Return the type of track shoe consistent with this road wheel.
 
std::shared_ptr< ChRoadWheelGetRoadWheel () const
 Return a handle to the road wheel subsystem.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetWheelRevolute () const
 Get a handle to the revolute joint of the road-wheel.
 
double GetWheelRadius () const
 Get the radius of the road wheel.
 
virtual void SetOutput (bool state) override
 Enable/disable output for this 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.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Types

enum  PointId {
  ARM, ARM_WHEEL, ARM_CHASSIS, SHOCK_A,
  SHOCK_C, NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 

Protected Member Functions

virtual const ChVector GetLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double GetArmMass () const =0
 Return the mass of the arm body.
 
virtual const ChVectorGetArmInertia () const =0
 Return the moments of inertia of the arm body.
 
virtual double GetArmVisRadius () const =0
 Return a visualization radius for the arm body.
 
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctorGetSpringTorqueFunctor () const =0
 Return the functor object for the torsional spring torque.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorGetShockForceFunctor () const =0
 Return the functor object for the translational shock force.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
 
- 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
 handle to the trailing arm body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to the revolute joint arm-chassis
 
std::shared_ptr< ChLinkRotSpringCBm_spring
 handle to the rotational spring link
 
std::shared_ptr< ChLinkTSDAm_shock
 handle to the translational shock link
 
- Protected Attributes inherited from chrono::vehicle::ChRoadWheelAssembly
GuidePinType m_type
 type of the track shoe matching this road wheel
 
bool m_has_shock
 specifies whether or not the suspension has a damper
 
std::shared_ptr< ChRoadWheelm_road_wheel
 road-wheel subsystem
 
- 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
 

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< 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 Enumeration Documentation

◆ PointId

Identifiers for the various hardpoints.

Enumerator
ARM 

arm location

ARM_WHEEL 

arm, connection point to road wheel

ARM_CHASSIS 

arm, connection point to chassis

SHOCK_A 

shock, arm location

SHOCK_C 

shock, chassis location

Constructor & Destructor Documentation

◆ ChLinearDamperRWAssembly()

chrono::vehicle::ChLinearDamperRWAssembly::ChLinearDamperRWAssembly ( const std::string &  name,
bool  has_shock = true 
)
Parameters
[in]namename of the subsystem
[in]has_shockspecify whether or not the suspension has a damper

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChLinearDamperRWAssembly::ExportComponentList ( rapidjson::Document &  jsonDocument) const
overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChRoadWheelAssembly.

◆ GetCarrierAngle()

double chrono::vehicle::ChLinearDamperRWAssembly::GetCarrierAngle ( ) const
overridevirtual

Return the current pitch angle of the carrier body.

This angle is measured in the x-z transversal plane, from the initial configuration, and follows the right-hand rule.

Implements chrono::vehicle::ChRoadWheelAssembly.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChLinearDamperRWAssembly::GetLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

Implemented in chrono::vehicle::m113::M113_Suspension.

◆ GetMass()

double chrono::vehicle::ChLinearDamperRWAssembly::GetMass ( ) const
overridevirtual

Get the total mass of the road-wheel assembly.

This includes the mass of the road-wheel and of the suspension mechanism.

Implements chrono::vehicle::ChRoadWheelAssembly.

◆ Initialize()

void chrono::vehicle::ChLinearDamperRWAssembly::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location 
)
overridevirtual

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 centered at the location of the road wheel and aligned with the chassis reference frame.

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame

Reimplemented from chrono::vehicle::ChRoadWheelAssembly.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChLinearDamperRWAssembly.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChLinearDamperRWAssembly.cpp