Description

RotaryArm-pinion steering model constructed with data from file (JSON format).

#include <RotaryArm.h>

Inheritance diagram for chrono::vehicle::RotaryArm:
Collaboration diagram for chrono::vehicle::RotaryArm:

Public Member Functions

 RotaryArm (const std::string &filename)
 
 RotaryArm (const rapidjson::Document &d)
 
virtual double getPitmanArmMass () const override
 Return the mass of the Pitman arm body.
 
virtual double getPitmanArmRadius () const override
 Return the radius of the Pitman arm body (visualization only).
 
virtual const ChVectorgetPitmanArmInertiaMoments () const override
 Return the moments of inertia of the Pitman arm body.
 
virtual const ChVectorgetPitmanArmInertiaProducts () const override
 Return the products of inertia of the Pitman arm body.
 
virtual const ChVector getLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual const ChVector getDirection (DirectionId which) override
 Return the unit vector for the specified direction. More...
 
virtual double getMaxAngle () const override
 Return the maximum rotation angle of the revolute joint.
 
- Public Member Functions inherited from chrono::vehicle::ChRotaryArm
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this steering subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the steering subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the steering subsystem.
 
virtual void Synchronize (double time, double steering) override
 Update the state of this steering subsystem at the current time. More...
 
virtual double GetMass () const override
 Get the total mass of the steering subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the steering subsystem.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChSteering
 ChSteering (const std::string &name)
 
const ChCoordsysGetPosition () const
 Get the position (location and orientation) of the steering subsystem relative to the chassis reference frame.
 
std::shared_ptr< ChBodyGetSteeringLink () const
 Get a handle to the main link of the steering subsystems. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
const std::string & GetName () const
 Get the name identifier for this subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Protected Types inherited from chrono::vehicle::ChRotaryArm
enum  PointId { ARM_L, ARM_C, NUM_POINTS }
 Identifiers for the various hardpoints. More...
 
enum  DirectionId { REV_AXIS, NUM_DIRS }
 Identifiers for the various direction unit vectors. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChRotaryArm
 ChRotaryArm (const std::string &name, bool vehicle_frame_inertia=false)
 Protected constructor. More...
 
void SetVehicleFrameInertiaFlag (bool val)
 Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRotSpringCB >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
- Protected Attributes inherited from chrono::vehicle::ChRotaryArm
std::shared_ptr< ChLinkMotorRotationAnglem_revolute
 handle to the chassis-arm revolute joint
 
- Protected Attributes inherited from chrono::vehicle::ChSteering
ChCoordsys m_position
 location and orientation relative to chassis
 
std::shared_ptr< ChBodym_link
 handle to the main steering link
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 

Member Function Documentation

◆ getDirection()

virtual const ChVector chrono::vehicle::RotaryArm::getDirection ( DirectionId  which)
inlineoverridevirtual

Return the unit vector for the specified direction.

The returned vector must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChRotaryArm.

◆ getLocation()

virtual const ChVector chrono::vehicle::RotaryArm::getLocation ( PointId  which)
inlineoverridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChRotaryArm.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/RotaryArm.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/RotaryArm.cpp