chrono::vehicle::WheeledVehicle Class Reference

Description

Wheeled vehicle model constructed from a JSON specification file.

#include <WheeledVehicle.h>

Inheritance diagram for chrono::vehicle::WheeledVehicle:
Collaboration diagram for chrono::vehicle::WheeledVehicle:

Public Member Functions

 WheeledVehicle (const std::string &filename, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 
 WheeledVehicle (ChSystem *system, const std::string &filename)
 
virtual int GetNumberAxles () const override
 Return the number of axles for this vehicle.
 
virtual double GetWheelbase () const override
 Return the vehicle wheelbase.
 
virtual double GetMinTurningRadius () const override
 Return the minimum turning radius. More...
 
virtual double GetMaxSteeringAngle () const override
 Return the maximum steering angle. More...
 
virtual void Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
 Initialize this vehicle at the specified global location and orientation.
 
- Public Member Functions inherited from chrono::vehicle::ChWheeledVehicle
 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...
 
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...
 
double GetWheeltrack (int id) const
 Return the vehicle wheel track of the specified suspension subsystem.
 
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...
 
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.
 

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::ChWheeledVehicle
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
 

Member Function Documentation

virtual double chrono::vehicle::WheeledVehicle::GetMaxSteeringAngle ( ) const
overridevirtual

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 from chrono::vehicle::ChWheeledVehicle.

virtual double chrono::vehicle::WheeledVehicle::GetMinTurningRadius ( ) const
overridevirtual

Return the minimum turning radius.

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

Reimplemented from chrono::vehicle::ChWheeledVehicle.