chrono::vehicle::ChTerrain Class Referenceabstract

Description

Base class for a terrain system.

#include <ChTerrain.h>

Inheritance diagram for chrono::vehicle::ChTerrain:
Collaboration diagram for chrono::vehicle::ChTerrain:

Classes

class  FrictionFunctor
 Class to be used as a functor interface for location-dependent coefficient of friction. More...
 

Public Member Functions

virtual void Synchronize (double time)
 Update the state of the terrain system at the specified time.
 
virtual void Advance (double step)
 Advance the state of the terrain system by the specified duration.
 
virtual double GetHeight (double x, double y) const =0
 Get the terrain height at the specified (x,y) location.
 
virtual ChVector GetNormal (double x, double y) const =0
 Get the terrain normal at the specified (x,y) location.
 
virtual float GetCoefficientFriction (double x, double y) const =0
 Get the terrain coefficient of friction at the specified (x,y) location. More...
 
void RegisterFrictionFunctor (FrictionFunctor *functor)
 Specify the functor object to provide the coefficient of friction at given (x,y) locations.
 

Protected Attributes

FrictionFunctorm_friction_fun
 functor for location-dependent coefficient of friction
 

Member Function Documentation

◆ GetCoefficientFriction()

virtual float chrono::vehicle::ChTerrain::GetCoefficientFriction ( double  x,
double  y 
) const
pure virtual

Get the terrain coefficient of friction at the specified (x,y) location.

This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it).

Implemented in chrono::vehicle::GranularTerrain, chrono::vehicle::RigidTerrain, chrono::vehicle::SCMDeformableTerrain, chrono::vehicle::CRGTerrain, chrono::vehicle::FEADeformableTerrain, and chrono::vehicle::FlatTerrain.


The documentation for this class was generated from the following files:
  • C:/Users/udarn/Repositories/chrono/src/chrono_vehicle/ChTerrain.h
  • C:/Users/udarn/Repositories/chrono/src/chrono_vehicle/ChTerrain.cpp