chrono::vehicle::ChWheeledVehicle Class Referenceabstract

Description

Base class for chrono wheeled vehicle systems.

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

#include <ChWheeledVehicle.h>

Inheritance diagram for chrono::vehicle::ChWheeledVehicle:
Collaboration diagram for chrono::vehicle::ChWheeledVehicle:

Public Member Functions

 ChWheeledVehicle (const std::string &name, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a vehicle system with a default ChSystem. More...
 
 ChWheeledVehicle (const std::string &name, ChSystem *system)
 Construct a vehicle system using the specified ChSystem. More...
 
virtual ~ChWheeledVehicle ()
 Destructor.
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle system template.
 
virtual std::shared_ptr< ChPowertrainGetPowertrain () const override
 Get the powertrain attached to this vehicle.
 
const ChAxleListGetAxles () const
 Get all vehicle axle subsystems.
 
std::shared_ptr< ChAxleGetAxle (int id) const
 Get the specified vehicle axle subsystem.
 
std::shared_ptr< ChSuspensionGetSuspension (int id) const
 Get the specified suspension subsystem.
 
std::shared_ptr< ChSteeringGetSteering (int id) const
 Get the specified steering subsystem.
 
std::shared_ptr< ChWheelGetWheel (int axle, VehicleSide side, WheelLocation location=SINGLE) const
 Get the specified vehicle wheel, by specifying the axle, side, and wheel location. More...
 
std::shared_ptr< ChDrivelineWVGetDriveline () const
 Get a handle to the vehicle's driveline subsystem.
 
virtual double GetVehicleMass () const override
 Get the vehicle total mass. More...
 
virtual ChVector GetVehicleCOMPos () const override
 Get the current global vehicle COM location.
 
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. More...
 
virtual int GetNumberAxles () const =0
 Return the number of axles for this vehicle.
 
const ChVectorGetSpindlePos (int axle, VehicleSide side) const
 Get the global location of the specified spindle.
 
const ChQuaternionGetSpindleRot (int axle, VehicleSide side) const
 Get the orientation of the specified spindle. More...
 
const ChVectorGetSpindleLinVel (int axle, VehicleSide side) const
 Get the linear velocity of the specified spindle. More...
 
ChVector GetSpindleAngVel (int axle, VehicleSide side) const
 Get the angular velocity of the specified spindle. More...
 
double GetSpindleOmega (int axle, VehicleSide side) const
 Get the angular speed of the specified spindle. More...
 
virtual double GetWheelbase () const =0
 Return the vehicle wheelbase.
 
double GetWheeltrack (int id) const
 Return the vehicle wheel track of the specified suspension subsystem.
 
virtual double GetMinTurningRadius () const
 Return the minimum turning radius. More...
 
virtual double GetMaxSteeringAngle () const
 Return the maximum steering angle. 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 InitializePowertrain (std::shared_ptr< ChPowertrain > powertrain)
 Initialize the given powertrain system and associate it to this vehicle. More...
 
void SetSuspensionVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystems. More...
 
void SetSteeringVisualizationType (VisualizationType vis)
 Set visualization type for the steering subsystems. More...
 
void SetWheelVisualizationType (VisualizationType vis)
 Set visualization type for the wheel subsystems. More...
 
virtual void SetChassisVehicleCollide (bool state) override
 Enable/disable collision between the chassis and all other vehicle subsystems. More...
 
void SetSuspensionOutput (int id, bool state)
 Enable/disable output from the suspension subsystems.
 
void SetSteeringOutput (int id, bool state)
 Enable/disable output from the steering subsystems.
 
void SetAntirollbarOutput (int id, bool state)
 Enable/disable output from the anti-roll bar subsystems.
 
void SetDrivelineOutput (bool state)
 Enable/disable output from the driveline subsystem.
 
virtual void Synchronize (double time, const ChDriver::Inputs &driver_inputs, const ChTerrain &terrain)
 Update the state of this vehicle at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this vehicle by the specified time step. More...
 
void LockAxleDifferential (int axle, bool lock)
 Lock/unlock the differential on the specified axle. More...
 
void LockCentralDifferential (int which, bool lock)
 Lock/unlock the specified central differential. 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...
 
virtual void Output (int frame, ChVehicleOutput &database) const override
 Output data for all modeling components in the vehicle system.
 
- 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...
 
virtual void Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0)=0
 Initialize this vehicle at the specified global location and orientation. More...
 
void SetChassisVisualizationType (VisualizationType vis)
 Set visualization mode for the chassis subsystem.
 
void SetChassisCollide (bool state)
 Enable/disable collision for the chassis subsystem. More...
 
void SetChassisOutput (bool state)
 Enable/disable output from the chassis subsystem.
 
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.
 

Protected Attributes

ChAxleList m_axles
 list of axle subsystems
 
ChSteeringList m_steerings
 list of steering subsystems
 
std::shared_ptr< ChDrivelineWVm_driveline
 driveline subsystem
 
std::shared_ptr< ChPowertrainm_powertrain
 associated powertrain system
 
- 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
 

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.
 

Constructor & Destructor Documentation

chrono::vehicle::ChWheeledVehicle::ChWheeledVehicle ( const std::string &  name,
ChMaterialSurface::ContactMethod  contact_method = ChMaterialSurface::NSC 
)

Construct a vehicle system with a default ChSystem.

Parameters
[in]namevehicle name
[in]contact_methodcontact method
chrono::vehicle::ChWheeledVehicle::ChWheeledVehicle ( const std::string &  name,
ChSystem system 
)

Construct a vehicle system using the specified ChSystem.

Parameters
[in]namevehicle name
[in]systemcontaining mechanical system

Member Function Documentation

void chrono::vehicle::ChWheeledVehicle::Advance ( double  step)
virtual

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

This function must be called if the vehicle system owns the underlying Chrono system. In addition to advancing the state of the multibody system, this function also advances the states of all associated tires.

Reimplemented from chrono::vehicle::ChVehicle.

std::string chrono::vehicle::ChWheeledVehicle::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::ChWheeledVehicle::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::ChWheeledVehicle::GetDriveshaftSpeed ( ) const
overridevirtual

Get the angular speed of the driveshaft.

This function provides the interface between a vehicle system and a powertrain system.

Implements chrono::vehicle::ChVehicle.

double chrono::vehicle::ChWheeledVehicle::GetMaxSteeringAngle ( ) const
virtual

Return the maximum steering angle.

This default implementation estimates the maximum steering angle based on a bicycle model and the vehicle minimum turning radius.

Reimplemented in chrono::vehicle::uaz::UAZBUS_Vehicle, chrono::vehicle::sedan::Sedan_Vehicle, chrono::vehicle::generic::Generic_Vehicle, chrono::vehicle::WheeledVehicle, and chrono::vehicle::hmmwv::HMMWV_Vehicle.

virtual double chrono::vehicle::ChWheeledVehicle::GetMinTurningRadius ( ) const
virtual

Return the minimum turning radius.

A concrete wheeled vehicle class should override the default value (20 m).

Reimplemented in chrono::vehicle::uaz::UAZBUS_Vehicle, chrono::vehicle::sedan::Sedan_Vehicle, chrono::vehicle::generic::Generic_Vehicle, chrono::vehicle::WheeledVehicle, and chrono::vehicle::hmmwv::HMMWV_Vehicle.

ChVector chrono::vehicle::ChWheeledVehicle::GetSpindleAngVel ( int  axle,
VehicleSide  side 
) const

Get the angular velocity of the specified spindle.

Return the angular velocity of the spindle frame, expressed in the global reference frame.

const ChVector & chrono::vehicle::ChWheeledVehicle::GetSpindleLinVel ( int  axle,
VehicleSide  side 
) const

Get the linear velocity of the specified spindle.

Return the linear velocity of the spindle center, expressed in the global reference frame.

double chrono::vehicle::ChWheeledVehicle::GetSpindleOmega ( int  axle,
VehicleSide  side 
) const

Get the angular speed of the specified spindle.

This is the angular speed of the spindle shaft.

const ChQuaternion & chrono::vehicle::ChWheeledVehicle::GetSpindleRot ( int  axle,
VehicleSide  side 
) const

Get the orientation of the specified spindle.

Return a quaternion representing a rotation with respect to the global reference frame.

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

Get the vehicle total mass.

This includes the mass of the chassis and all vehicle subsystems, but not the mass of tires.

Implements chrono::vehicle::ChVehicle.

std::shared_ptr< ChWheel > chrono::vehicle::ChWheeledVehicle::GetWheel ( int  axle,
VehicleSide  side,
WheelLocation  location = SINGLE 
) const

Get the specified vehicle wheel, by specifying the axle, side, and wheel location.

Axles are assumed to be indexed starting from the front of the vehicle. On each axle, wheels are assumed to be ordered from inner to outer wheels, first left then right: for a single-wheel axle the order is left wheel, right wheel; for a double-wheel axle, the order is inner left, inner right, outer left, outer right.

void chrono::vehicle::ChWheeledVehicle::InitializePowertrain ( std::shared_ptr< ChPowertrain powertrain)

Initialize the given powertrain system and associate it to this vehicle.

The powertrain is initialized by connecting it to this vehicle's chassis and driveline shaft.

void chrono::vehicle::ChWheeledVehicle::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 vehicle initialization.

void chrono::vehicle::ChWheeledVehicle::LockAxleDifferential ( int  axle,
bool  lock 
)

Lock/unlock the differential on the specified axle.

By convention, axles are counted front to back, starting with index 0.

void chrono::vehicle::ChWheeledVehicle::LockCentralDifferential ( int  which,
bool  lock 
)

Lock/unlock the specified central differential.

By convention, central differentials are counted from front to back, starting with index 0 for the central differential between the two front-most axles.

void chrono::vehicle::ChWheeledVehicle::SetChassisVehicleCollide ( bool  state)
overridevirtual

Enable/disable collision between the chassis and all other vehicle subsystems.

This only controls collisions between the chassis and the tire systems.

Reimplemented from chrono::vehicle::ChVehicle.

void chrono::vehicle::ChWheeledVehicle::SetSteeringVisualizationType ( VisualizationType  vis)

Set visualization type for the steering subsystems.

This function should be called only after vehicle initialization.

void chrono::vehicle::ChWheeledVehicle::SetSuspensionVisualizationType ( VisualizationType  vis)

Set visualization type for the suspension subsystems.

This function should be called only after vehicle initialization.

void chrono::vehicle::ChWheeledVehicle::SetWheelVisualizationType ( VisualizationType  vis)

Set visualization type for the wheel subsystems.

This function should be called only after vehicle initialization.

void chrono::vehicle::ChWheeledVehicle::Synchronize ( double  time,
const ChDriver::Inputs &  driver_inputs,
const ChTerrain terrain 
)
virtual

Update the state of this vehicle at the current time.

The vehicle system is provided the current driver inputs (throttle between 0 and 1, steering between -1 and +1, braking between 0 and 1), and a reference to the terrain system.

Parameters
[in]timecurrent time
[in]terraincurrent driver inputs [in] reference to the terrain system