Description

Base class for a suspension test rig.

#include <ChSuspensionTestRig.h>

Inheritance diagram for chrono::vehicle::ChSuspensionTestRig:
Collaboration diagram for chrono::vehicle::ChSuspensionTestRig:

Public Member Functions

virtual ~ChSuspensionTestRig ()
 Destructor.
 
void SetDriver (std::shared_ptr< ChDriverSTR > driver)
 Set driver system.
 
void SetInitialRideHeight (double height)
 Set the initial ride height (relative to the chassis reference frame). More...
 
void SetDisplacementLimit (double limit)
 Set the limits for post displacement (same for jounce and rebound).
 
void SetSuspensionVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystem (default: PRIMITIVES).
 
void SetSteeringVisualizationType (VisualizationType vis)
 Set visualization type for the steering subsystems (default: PRIMITIVES).
 
void SetWheelVisualizationType (VisualizationType vis)
 Set visualization type for the wheel subsystems (default: NONE).
 
void SetTireVisualizationType (VisualizationType vis)
 Set visualization type for the tire subsystems (default: PRIMITIVES).
 
void SetSuspensionOutput (bool state)
 Enable/disable output from the suspension subsystem. More...
 
void SetSteeringOutput (bool state)
 Enable/disable output from the steering subsystem (if one exists). More...
 
void SetAntirollbarOutput (bool state)
 Enable/disable output from the anti-roll bar subsystem (if one exists). More...
 
void Initialize ()
 Initialize this suspension test rig.
 
virtual void Advance (double step) override
 Advance the state of the suspension test rig by the specified time step.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the specified spindle.
 
const ChQuaternionGetSpindleRot (VehicleSide side) const
 Get the global rotation of the specified spindle.
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the specified spindle (expressed in the global reference frame).
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the specified spindle (expressed in the global reference frame).
 
double GetSteeringInput () const
 
double GetLeftInput () const
 
double GetRightInput () const
 
virtual double GetActuatorDisp (VehicleSide side)=0
 
virtual double GetActuatorForce (VehicleSide side)=0
 
bool HasSteering () const
 Return true if a steering system is attached.
 
bool HasAntirollbar () const
 Return true if an anti-roll bar system is attached.
 
std::shared_ptr< ChSuspensionGetSuspension () const
 Get the suspension subsystem.
 
std::shared_ptr< ChSteeringGetSteering () const
 Get the steering subsystem.
 
std::shared_ptr< ChAntirollBarGetAntirollBar () const
 Get the anti-roll bar subsystem.
 
std::shared_ptr< ChWheelGetWheel (VehicleSide side) const
 Get a handle to the specified wheel subsystem.
 
double GetMass () const
 Get the rig total mass. More...
 
TerrainForce ReportTireForce (VehicleSide side) const
 Get the tire force and moment on the specified side.
 
ChSuspension::Force ReportSuspensionForce (VehicleSide side) const
 Get the suspension forces on the specified side.
 
double GetWheelTravel (VehicleSide side) const
 Get wheel travel, defined here as the vertical displacement of the spindle center from its position at the initial specified ride height (or initial configuration, if an initial ride height is not specified).
 
virtual double GetRideHeight () const =0
 Get current ride height (relative to the chassis reference frame). More...
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
void SetPlotOutput (double output_step)
 Enable/disable data collection for plot generation (default: false). More...
 
virtual void PlotOutput (const std::string &out_dir, const std::string &out_name)=0
 Plot collected data. More...
 
- Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual ~ChVehicle ()
 Destructor.
 
const std::string & GetName () const
 Get the name identifier for this vehicle.
 
void SetName (const std::string &name)
 Set the name identifier for this vehicle.
 
ChSystemGetSystem ()
 Get a pointer to the Chrono ChSystem.
 
double GetChTime () const
 Get the current simulation time of the underlying ChSystem.
 
std::shared_ptr< ChChassisGetChassis () const
 Get a handle to the vehicle's chassis subsystem.
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 Get a handle to the vehicle's chassis body.
 
virtual std::shared_ptr< ChPowertrainGetPowertrain () const
 Get the powertrain attached to this vehicle.
 
const ChVectorGetVehiclePos () const
 Get the vehicle location. More...
 
const ChQuaternionGetVehicleRot () const
 Get the vehicle orientation. More...
 
double GetVehicleSpeed () const
 Get the vehicle speed. More...
 
double GetVehicleSpeedCOM () const
 Get the speed of the chassis COM. More...
 
ChVector GetVehiclePointLocation (const ChVector<> &locpos) const
 Get the global position of the specified point. More...
 
ChVector GetVehiclePointVelocity (const ChVector<> &locpos) const
 Get the global velocity of the specified point. More...
 
ChVector GetVehicleAcceleration (const ChVector<> &locpos) const
 Get the acceleration at the specified point. More...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
void SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
 Enable output for this vehicle system. More...
 
void SetChassisVisualizationType (VisualizationType vis)
 Set visualization mode for the chassis subsystem.
 
void SetChassisCollide (bool state)
 Enable/disable collision for the chassis subsystem. More...
 
virtual void SetChassisVehicleCollide (bool state)
 Enable/disable collision between the chassis and all other vehicle subsystems. More...
 
void SetChassisOutput (bool state)
 Enable/disable output from the chassis subsystem.
 

Protected Member Functions

 ChSuspensionTestRig (ChWheeledVehicle &vehicle, int axle_index, double displ_limit, std::shared_ptr< ChTire > tire_left, std::shared_ptr< ChTire > tire_right, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a test rig for a specified axle of a given vehicle. More...
 
 ChSuspensionTestRig (const std::string &filename, int axle_index, double displ_limit, std::shared_ptr< ChTire > tire_left, std::shared_ptr< ChTire > tire_right, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a test rig for a specified axle of a given vehicle. More...
 
 ChSuspensionTestRig (const std::string &filename, std::shared_ptr< ChTire > tire_left, std::shared_ptr< ChTire > tire_right, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a test rig from specified (JSON) file. More...
 
void InitializeSubsystems ()
 Initialize all underlying vehicle subsystems.
 
virtual void Output (int frame, ChVehicleOutput &database) const override
 Output data for all modeling components in the suspension test rig system.
 
virtual double CalcDisplacementOffset ()=0
 
virtual double CalcTerrainHeight (VehicleSide side)=0
 
virtual void UpdateActuators (double displ_left, double displ_speed_left, double displ_right, double displ_speed_right)=0
 
virtual void CollectPlotData (double time)=0
 
- Protected Member Functions inherited from chrono::vehicle::ChVehicle
 ChVehicle (const std::string &name, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a vehicle system with an underlying ChSystem. More...
 
 ChVehicle (const std::string &name, ChSystem *system)
 Construct a vehicle system using the specified ChSystem. More...
 

Protected Attributes

std::shared_ptr< ChSuspensionm_suspension
 suspension subsystem
 
std::shared_ptr< ChSteeringm_steering
 steering subsystem
 
std::shared_ptr< ChAntirollBarm_antirollbar
 anti-roll bar subsystem
 
std::shared_ptr< ChShaftm_dummy_shaft
 dummy driveshaft
 
std::shared_ptr< ChWheelm_wheel [2]
 wheel subsystems
 
std::shared_ptr< ChTirem_tire [2]
 tire subsystems
 
double m_ride_height
 ride height
 
double m_displ_offset
 post displacement offset (to set reference position)
 
double m_displ_delay
 time interval for assuming reference position
 
double m_displ_limit
 scale factor for post displacement
 
bool m_plot_output
 
double m_plot_output_step
 
double m_next_plot_output_time
 
utils::CSV_writer * m_csv
 
- Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string m_name
 vehicle name
 
ChSystemm_system
 pointer to the Chrono system
 
bool m_ownsSystem
 true if system created at construction
 
bool m_output
 generate ouput for this vehicle system
 
ChVehicleOutputm_output_db
 vehicle output database
 
double m_output_step
 output time step
 
double m_next_output_time
 time for next output
 
int m_output_frame
 current output frame
 
std::shared_ptr< ChChassism_chassis
 handle to the chassis subsystem
 

Additional Inherited Members

- Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool AnyOutput (const std::vector< std::shared_ptr< T >> &list)
 Utility function for testing if any subsystem in a list generates output.
 

Constructor & Destructor Documentation

◆ ChSuspensionTestRig() [1/3]

chrono::vehicle::ChSuspensionTestRig::ChSuspensionTestRig ( ChWheeledVehicle vehicle,
int  axle_index,
double  displ_limit,
std::shared_ptr< ChTire tire_left,
std::shared_ptr< ChTire tire_right,
ChMaterialSurface::ContactMethod  contact_method = ChMaterialSurface::NSC 
)
protected

Construct a test rig for a specified axle of a given vehicle.

This version uses a concrete vehicle object.

Parameters
vehiclevehicle source
axle_indexindex of the suspension to be tested
displ_limitlimits for post displacement
tire_leftleft tire
tire_rightright tire
contact_methodcontact method

◆ ChSuspensionTestRig() [2/3]

chrono::vehicle::ChSuspensionTestRig::ChSuspensionTestRig ( const std::string &  filename,
int  axle_index,
double  displ_limit,
std::shared_ptr< ChTire tire_left,
std::shared_ptr< ChTire tire_right,
ChMaterialSurface::ContactMethod  contact_method = ChMaterialSurface::NSC 
)
protected

Construct a test rig for a specified axle of a given vehicle.

This version assumes the vehicle is specified through a JSON file.

Parameters
filenameJSON file with vehicle specification
axle_indexindex of the suspension to be tested
displ_limitlimits for post displacement
tire_leftleft tire
tire_rightright tire
contact_methodcontact method

◆ ChSuspensionTestRig() [3/3]

chrono::vehicle::ChSuspensionTestRig::ChSuspensionTestRig ( const std::string &  filename,
std::shared_ptr< ChTire tire_left,
std::shared_ptr< ChTire tire_right,
ChMaterialSurface::ContactMethod  contact_method = ChMaterialSurface::NSC 
)
protected

Construct a test rig from specified (JSON) file.

Parameters
filenameJSON file with test rig specification
tire_leftleft tire
tire_rightright tire
contact_methodcontact method

Member Function Documentation

◆ GetMass()

double chrono::vehicle::ChSuspensionTestRig::GetMass ( ) const

Get the rig total mass.

This includes the mass of the suspension and wheels, and (if present) the mass of the steering mechanism.

◆ GetRideHeight()

virtual double chrono::vehicle::ChSuspensionTestRig::GetRideHeight ( ) const
pure virtual

Get current ride height (relative to the chassis reference frame).

This estimate uses the average of the left and right posts.

Implemented in chrono::vehicle::ChSuspensionTestRigPushrod, and chrono::vehicle::ChSuspensionTestRigPlatform.

◆ PlotOutput()

virtual void chrono::vehicle::ChSuspensionTestRig::PlotOutput ( const std::string &  out_dir,
const std::string &  out_name 
)
pure virtual

Plot collected data.

When called (typically at the end of the simulation loop), the collected data is saved in ASCII format in a file with the specified name (and 'txt' extension) in the specified output directory. If the Chrono::Postprocess module is available (with gnuplot support), selected plots are generated.

Implemented in chrono::vehicle::ChSuspensionTestRigPushrod, and chrono::vehicle::ChSuspensionTestRigPlatform.

◆ SetAntirollbarOutput()

void chrono::vehicle::ChSuspensionTestRig::SetAntirollbarOutput ( bool  state)

Enable/disable output from the anti-roll bar subsystem (if one exists).

See also ChVehicle::SetOuput.

◆ SetInitialRideHeight()

void chrono::vehicle::ChSuspensionTestRig::SetInitialRideHeight ( double  height)

Set the initial ride height (relative to the chassis reference frame).

If not specified, the reference height is the suspension design configuration.

◆ SetPlotOutput()

void chrono::vehicle::ChSuspensionTestRig::SetPlotOutput ( double  output_step)

Enable/disable data collection for plot generation (default: false).

See ChSuspensionTestRigPlatform::plotOutput and ChSuspensionTestRigPushrod::plotOutput for details on data collected for a specific type of test rig.

◆ SetSteeringOutput()

void chrono::vehicle::ChSuspensionTestRig::SetSteeringOutput ( bool  state)

Enable/disable output from the steering subsystem (if one exists).

See also ChVehicle::SetOuput.

◆ SetSuspensionOutput()

void chrono::vehicle::ChSuspensionTestRig::SetSuspensionOutput ( bool  state)

Enable/disable output from the suspension subsystem.

See also ChVehicle::SetOuput.