Description

Template for a rigid-body rear chassis vehicle subsystem.

#include <ChRigidChassis.h>

Inheritance diagram for chrono::vehicle::ChRigidChassisRear:
Collaboration diagram for chrono::vehicle::ChRigidChassisRear:

Public Member Functions

 ChRigidChassisRear (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
bool HasCollision () const
 Specifies whether or not collision shapes were defined.
 
bool HasPrimitives () const
 Specifies whether or not visualization primitives were defined.
 
bool HasMesh () const
 Specifies whether or not a visualization mesh was defined.
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with chassis visualization mesh. More...
 
virtual void SetCollide (bool state) override
 Enable/disable contact for the chassis. More...
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, int collision_family=0) override
 Initialize the rear chassis relative to the specified front chassis. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets () override final
 Remove all visualization assets from this subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChChassisRear
 ChChassisRear (const std::string &name)
 Construct a rear chassis subsystem with the specified name.
 
virtual const ChVectorGetLocalPosFrontConnector () const =0
 Get the location (in the local frame of this chassis) of the connection to the front chassis.
 
- Public Member Functions inherited from chrono::vehicle::ChChassis
 ChChassis (const std::string &name, bool fixed=false)
 Construct a chassis subsystem with the specified name. More...
 
virtual double GetMass () const =0
 Get the chassis mass.
 
virtual const ChMatrix33GetInertia () 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 const ChVector GetLocalPosRearConnector () const
 Get the location (in the local frame of this chassis) of the connection to a rear chassis.
 
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.
 
ChQuaternion GetRot () const
 Get the orientation of the chassis reference frame. More...
 
const ChVectorGetCOMPos () const
 Get the global location of the chassis center of mass.
 
ChQuaternion GetCOMRot () 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...
 
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.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
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 void CreateContactMaterials (ChContactMethod contact_method)
 Load contact materials. More...
 
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

ChRigidChassisGeometry m_geometry
 
- Protected Attributes inherited from chrono::vehicle::ChChassis
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
 

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 Function Documentation

◆ CreateContactMaterials()

virtual void chrono::vehicle::ChRigidChassisRear::CreateContactMaterials ( ChContactMethod  contact_method)
inlineprotectedvirtual

Load contact materials.

A derived class must implement this only if it sets m_has_collision to 'true' and should use contact materials consistent with the specified contact method.

Reimplemented in chrono::vehicle::fmtv::LMTV_ChassisRear, and chrono::vehicle::fmtv::MTV_ChassisRear.

◆ ExportComponentList()

void chrono::vehicle::ChRigidChassisRear::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::ChPart.

◆ GetMeshFilename()

const std::string& chrono::vehicle::ChRigidChassisRear::GetMeshFilename ( ) const
inline

Get the name of the Wavefront file with chassis visualization mesh.

An empty string is returned if no mesh was specified.

◆ Initialize()

void chrono::vehicle::ChRigidChassisRear::Initialize ( std::shared_ptr< ChChassis chassis,
int  collision_family = 0 
)
overridevirtual

Initialize the rear chassis relative to the specified front chassis.

The orientation is set to be the same as that of the front chassis while the location is based on the connector position on the front and rear chassis.

Parameters
[in]chassisfront chassis
[in]collision_familychassis collision family

Reimplemented from chrono::vehicle::ChChassisRear.

◆ SetCollide()

virtual void chrono::vehicle::ChRigidChassisRear::SetCollide ( bool  state)
inlineoverridevirtual

Enable/disable contact for the chassis.

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

Implements chrono::vehicle::ChChassis.


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