Description

Base class for tracked vehicle suspension (road-wheel assembly) subsystem.

#include <ChRoadWheelAssembly.h>

Inheritance diagram for chrono::vehicle::ChRoadWheelAssembly:
Collaboration diagram for chrono::vehicle::ChRoadWheelAssembly:

Public Member Functions

 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.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const =0
 Return a handle to the carrier body.
 
virtual double GetCarrierAngle () const =0
 Return the current pitch angle of the carrier body. More...
 
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 double GetMass () const =0
 Get the total mass of the roadwheel assembly. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)
 Initialize this suspension subsystem. More...
 
virtual void SetOutput (bool state) override
 Enable/disable output for this subsystem. More...
 
virtual void LogConstraintViolations ()=0
 Log current constraint violations.
 
- 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.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
- 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

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
 
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
 

Friends

class ChTrackAssembly
 

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

Member Function Documentation

void chrono::vehicle::ChRoadWheelAssembly::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.

Reimplemented in chrono::vehicle::ChLinearDamperRWAssembly, and chrono::vehicle::ChRotationalDamperRWAssembly.

virtual double chrono::vehicle::ChRoadWheelAssembly::GetCarrierAngle ( ) const
pure virtual

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.

Implemented in chrono::vehicle::ChLinearDamperRWAssembly, and chrono::vehicle::ChRotationalDamperRWAssembly.

virtual double chrono::vehicle::ChRoadWheelAssembly::GetMass ( ) const
pure virtual

Get the total mass of the roadwheel assembly.

This includes the mass of the roadwheel and of the suspension mechanism.

Implemented in chrono::vehicle::ChLinearDamperRWAssembly, and chrono::vehicle::ChRotationalDamperRWAssembly.

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

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. Derived classes must call this base class implementation (which only initializes the road wheel).

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

Reimplemented in chrono::vehicle::ChLinearDamperRWAssembly, and chrono::vehicle::ChRotationalDamperRWAssembly.

void chrono::vehicle::ChRoadWheelAssembly::SetOutput ( bool  state)
overridevirtual

Enable/disable output for this subsystem.

This function overrides the output setting for all components of this suspension assembly.

Reimplemented from chrono::vehicle::ChPart.