chrono::vehicle::ChTrackTestRig Class Reference

Description

Definition of a suspension test rig.

#include <ChTrackTestRig.h>

Inheritance diagram for chrono::vehicle::ChTrackTestRig:
Collaboration diagram for chrono::vehicle::ChTrackTestRig:

Public Member Functions

 ChTrackTestRig ()
 Default constructor.
 
 ChTrackTestRig (const std::string &filename, const ChVector<> &location, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a test rig from specified track assembly JSON file. More...
 
 ChTrackTestRig (std::shared_ptr< ChTrackAssembly > assembly, const ChVector<> &location, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a test rig using the specified track assembly and subsystem locations. More...
 
 ~ChTrackTestRig ()
 Destructor.
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle system template.
 
void SetActuator_func (const std::shared_ptr< ChFunction > &func)
 Set the actuator function.
 
double GetActuatorDisp ()
 
double GetActuatorForce ()
 
double GetActuatorMarkerDist ()
 
void SetMaxTorque (double val)
 Set maximum sprocket torque.
 
virtual double GetVehicleMass () const override
 Get the rig total mass. More...
 
virtual ChVector GetVehicleCOMPos () const override
 Get the current global rig COM location.
 
const ChVectorGetPostPosition () const
 Return the location of the shaker post.
 
std::shared_ptr< ChTrackAssemblyGetTrackAssembly () const
 Get the track assembly subsystem.
 
virtual std::shared_ptr< ChShaftGetDriveshaft () const override
 Get a handle to the vehicle's driveshaft body.
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft.
 
virtual void Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
 Initialize this chassis at the specified global location and orientation. More...
 
void SetCollide (int flags)
 Set collision flags for the various subsystems. More...
 
void Synchronize (double time, double disp, double throttle, const TerrainForces &shoe_forces)
 Update the state at the current time. More...
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
virtual std::string ExportComponentList () const override
 Return a JSON string with information on all modeling components in the vehicle system. More...
 
virtual void ExportComponentList (const std::string &filename) const override
 Write a JSON-format file with information on all modeling components in the vehicle system. 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.
 
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.
 
virtual void Advance (double step)
 Advance the state of this vehicle by the specified time step. More...
 
void SetStepsize (double val)
 Set the integration step size for the vehicle system.
 
double GetStepsize () const
 Get the current value of the integration step size for the vehicle system.
 

Additional Inherited Members

- 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...
 
- 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.
 
- 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
 
double m_stepsize
 integration step-size for the vehicle system
 

Constructor & Destructor Documentation

chrono::vehicle::ChTrackTestRig::ChTrackTestRig ( const std::string &  filename,
const ChVector<> &  location,
ChMaterialSurface::ContactMethod  contact_method = ChMaterialSurface::NSC 
)

Construct a test rig from specified track assembly JSON file.

Parameters
[in]filenameJSON file with test rig specification
[in]locationtrack assembly location
[in]contact_methodcontact method
chrono::vehicle::ChTrackTestRig::ChTrackTestRig ( std::shared_ptr< ChTrackAssembly assembly,
const ChVector<> &  location,
ChMaterialSurface::ContactMethod  contact_method = ChMaterialSurface::NSC 
)

Construct a test rig using the specified track assembly and subsystem locations.

Parameters
[in]assemblyhandle to the track assembly
[in]locationtrack assembly location
[in]contact_methodcontact method

Member Function Documentation

std::string chrono::vehicle::ChTrackTestRig::ExportComponentList ( ) const
overridevirtual

Return a JSON string with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implements chrono::vehicle::ChVehicle.

void chrono::vehicle::ChTrackTestRig::ExportComponentList ( const std::string &  filename) const
overridevirtual

Write a JSON-format file with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implements chrono::vehicle::ChVehicle.

double chrono::vehicle::ChTrackTestRig::GetVehicleMass ( ) const
overridevirtual

Get the rig total mass.

This is simply the mass of the track subsystem.

Implements chrono::vehicle::ChVehicle.

void chrono::vehicle::ChTrackTestRig::Initialize ( const ChCoordsys<> &  chassisPos,
double  chassisFwdVel = 0 
)
overridevirtual

Initialize this chassis at the specified global location and orientation.

Parameters
[in]chassisPosinitial global position and orientation
[in]chassisFwdVelinitial forward velocity (ignored)

Implements chrono::vehicle::ChVehicle.

void chrono::vehicle::ChTrackTestRig::SetCollide ( int  flags)

Set collision flags for the various subsystems.

By default, collision is enabled for sprocket, idler, road wheels, and track shoes. To override these default settings, this function must be called after the call to Initialize().

void chrono::vehicle::ChTrackTestRig::Synchronize ( double  time,
double  disp,
double  throttle,
const TerrainForces shoe_forces 
)

Update the state at the current time.

steering between -1 and +1, and no force need be applied if using external actuation

Parameters
[in]timecurrent time
[in]disppost displacement
[in]throttlethrottle input
[in]shoe_forcesvector of track shoe forces