chrono::vehicle::ChWheeledTrailer Class Reference

Description

Base class for chrono wheeled trailer systems.

This class provides the interface between the trailer system and other systems (vehicle, tires, etc.). The reference frame for a trailer follows the ISO standard: Z-axis up, X-axis pointing forward, and Y-axis towards the left of the vehicle.

#include <ChWheeledTrailer.h>

Inheritance diagram for chrono::vehicle::ChWheeledTrailer:

Public Member Functions
virtual	~ChWheeledTrailer ()
	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.
virtual unsigned int	GetNumberAxles () const =0
	Return the number of axles for this trailer.
virtual std::string	GetTemplateName () const
	Get the name of the trailer system template.
std::shared_ptr< ChChassisRear >	GetChassis () const
	Get the trailer chassis subsystem.
const chrono::vehicle::ChAxleList &	GetAxles () const
	Get all trailer axle subsystems.
std::shared_ptr< chrono::vehicle::ChAxle >	GetAxle (int id) const
	Get the specified trailer axle subsystem.
void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem. More...
void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystems. More...
void	SetWheelVisualizationType (VisualizationType vis)
	Set visualization type for the wheel subsystems. More...
void	SetTireVisualizationType (VisualizationType vis)
	Set visualization type for the tire subsystems. More...
virtual void	Initialize (std::shared_ptr< ChChassis > frontChassis)
	Initialize this trailer relative to the specified front chassis. More...
void	InitializeTire (std::shared_ptr< ChTire > tire, std::shared_ptr< ChWheel > wheel, VisualizationType tire_vis=VisualizationType::PRIMITIVES, ChTire::CollisionType tire_coll=ChTire::CollisionType::SINGLE_POINT)
	Initialize the given tire and attach it to the specified wheel. More...
void	Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain)
	Update the state of this trailer at the current time. More...
void	Advance (double step)
	Advance the state of this trailer by the specified time step. More...

Protected Member Functions
	ChWheeledTrailer (const std::string &name, ChSystem *system)
	Construct a trailer system using the specified ChSystem. More...

Protected Attributes
std::string	m_name
	trailer system name
std::shared_ptr< ChChassisRear >	m_chassis
	trailer chassis
std::shared_ptr< ChChassisConnectorHitch >	m_connector
	connector to pulling vehicle
chrono::vehicle::ChAxleList	m_axles
	list of axle subsystems

Constructor & Destructor Documentation

ChWheeledTrailer()

chrono::vehicle::ChWheeledTrailer::ChWheeledTrailer ( const std::string &  name, ChSystem *  system  )

protected

Construct a trailer system using the specified ChSystem.

Parameters

[in]	name	trailer system name
[in]	system	containing mechanical system

Member Function Documentation

Advance()

void chrono::vehicle::ChWheeledTrailer::Advance

(

double

step

)

Advance the state of this trailer by the specified time step.

This function advances the states of all associated tires.

Initialize()

void chrono::vehicle::ChWheeledTrailer::Initialize ( std::shared_ptr< ChChassis >  frontChassis )

virtual

Initialize this trailer relative to the specified front chassis.

This base class implementation only initializes the trailer chassis and connector subsystems. Derived classes must extend this function to initialize the axle subsystems.

Reimplemented in chrono::vehicle::kraz::Kraz_trailer, and chrono::vehicle::WheeledTrailer.

InitializeTire()

void chrono::vehicle::ChWheeledTrailer::InitializeTire	(	std::shared_ptr< ChTire >	tire,
		std::shared_ptr< ChWheel >	wheel,
		VisualizationType	tire_vis = VisualizationType::PRIMITIVES,
		ChTire::CollisionType	tire_coll = ChTire::CollisionType::SINGLE_POINT
	)

Initialize the given tire and attach it to the specified wheel.

Optionally, specify tire visualization mode and tire-terrain collision detection method. This function should be called only after trailer initialization.

SetChassisVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetChassisVisualizationType

(

VisualizationType

vis

)

Set visualization mode for the chassis subsystem.

This function should be called only after trailer initialization.

SetSuspensionVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetSuspensionVisualizationType

(

VisualizationType

vis

)

Set visualization type for the suspension subsystems.

This function should be called only after trailer initialization.

SetTireVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetTireVisualizationType

(

VisualizationType

vis

)

Set visualization type for the tire subsystems.

This function should be called only after trailer and tire initialization.

SetWheelVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetWheelVisualizationType

(

VisualizationType

vis

)

Set visualization type for the wheel subsystems.

This function should be called only after trailer initialization.

Synchronize()

void chrono::vehicle::ChWheeledTrailer::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs,
		const ChTerrain &	terrain
	)

Update the state of this trailer at the current time.

The trailer system is provided the current driver inputs and a reference to the terrain system.

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs
[in]	terrain	reference to the terrain system

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The documentation for this class was generated from the following files:

• /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChWheeledTrailer.h
• /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChWheeledTrailer.cpp