chrono::vehicle::generic::Generic_SimpleMapPowertrain Class Reference

Description

Custom powertrain model for a generic vehicle.

Note that this does not use one of the Chrono::vehicle templates, but rather inherits directly from ChPowertrain.

#include <Generic_SimpleMapPowertrain.h>

Inheritance diagram for chrono::vehicle::generic::Generic_SimpleMapPowertrain:
Collaboration diagram for chrono::vehicle::generic::Generic_SimpleMapPowertrain:

Public Member Functions

 Generic_SimpleMapPowertrain (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual double GetMotorSpeed () const override
 Return the current engine speed.
 
virtual double GetMotorTorque () const override
 Return the current engine torque.
 
virtual double GetTorqueConverterSlippage () const override
 Return the value of slippage in the torque converter. More...
 
virtual double GetTorqueConverterInputTorque () const override
 Return the input torque to the torque converter. More...
 
virtual double GetTorqueConverterOutputTorque () const override
 Return the output torque from the torque converter. More...
 
virtual int GetCurrentTransmissionGear () const override
 Return the current transmission gear This simplified model does not have a transmission box. More...
 
virtual double GetOutputTorque () const override
 Return the output torque from the powertrain. More...
 
virtual void SetDriveMode (ChPowertrain::DriveMode mmode) override
 Use this function to set the mode of automatic transmission. More...
 
void SetSelectedGear (int igear)
 Use this function to shift from one gear to another. More...
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, std::shared_ptr< ChShaft > driveshaft) override
 Initialize the powertrain system. More...
 
virtual void Synchronize (double time, double throttle, double shaft_speed) override
 Update the state of this powertrain system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this powertrain system by the specified time step. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPowertrain
 ChPowertrain (const std::string &name)
 
DriveMode GetDriveMode ()
 Return the current mode of the transmission.
 
- 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 AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
 
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
 
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
 
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
 
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
 
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
 
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
 
float GetKn () const
 Get normal stiffness coefficient for contact material.
 
float GetKt () const
 Get tangential stiffness coefficient for contact material.
 
float GetGn () const
 Get normal viscous damping coefficient for contact material.
 
float GetGt () const
 Get tangential viscous damping coefficient for contact material.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChPowertrain
enum  DriveMode { FORWARD, NEUTRAL, REVERSE }
 Driving modes. More...
 
- 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 Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. 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< ChLinkSpringCB >> 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::ChPowertrain
DriveMode m_drive_mode
 
- 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
 
float m_friction
 contact coefficient of friction
 
float m_restitution
 contact coefficient of restitution
 
float m_young_modulus
 contact material Young modulus
 
float m_poisson_ratio
 contact material Poisson ratio
 
float m_kn
 normal contact stiffness
 
float m_gn
 normal contact damping
 
float m_kt
 tangential contact stiffness
 
float m_gt
 tangential contact damping
 

Member Function Documentation

virtual void chrono::vehicle::generic::Generic_SimpleMapPowertrain::Advance ( double  step)
overridevirtual

Advance the state of this powertrain system by the specified time step.

This function does nothing for this simplified powertrain model.

Reimplemented from chrono::vehicle::ChPowertrain.

virtual int chrono::vehicle::generic::Generic_SimpleMapPowertrain::GetCurrentTransmissionGear ( ) const
overridevirtual

Return the current transmission gear This simplified model does not have a transmission box.

Implements chrono::vehicle::ChPowertrain.

virtual double chrono::vehicle::generic::Generic_SimpleMapPowertrain::GetOutputTorque ( ) const
overridevirtual

Return the output torque from the powertrain.

This is the torque that is passed to a vehicle system, thus providing the interface between the powertrain and vehicle co-simulation modules. Since a ShaftsPowertrain is directly connected to the vehicle's driveline, this function returns 0.

Implements chrono::vehicle::ChPowertrain.

virtual double chrono::vehicle::generic::Generic_SimpleMapPowertrain::GetTorqueConverterInputTorque ( ) const
overridevirtual

Return the input torque to the torque converter.

This simplified model does not have a torque converter.

Implements chrono::vehicle::ChPowertrain.

virtual double chrono::vehicle::generic::Generic_SimpleMapPowertrain::GetTorqueConverterOutputTorque ( ) const
overridevirtual

Return the output torque from the torque converter.

This simplified model does not have a torque converter.

Implements chrono::vehicle::ChPowertrain.

virtual double chrono::vehicle::generic::Generic_SimpleMapPowertrain::GetTorqueConverterSlippage ( ) const
overridevirtual

Return the value of slippage in the torque converter.

This simplified model does not have a torque converter.

Implements chrono::vehicle::ChPowertrain.

void chrono::vehicle::generic::Generic_SimpleMapPowertrain::Initialize ( std::shared_ptr< ChBody chassis,
std::shared_ptr< ChShaft driveshaft 
)
overridevirtual

Initialize the powertrain system.

Parameters
[in]chassischassis o the associated vehicle
[in]driveshaftshaft connection to the vehicle driveline

Implements chrono::vehicle::ChPowertrain.

void chrono::vehicle::generic::Generic_SimpleMapPowertrain::SetDriveMode ( ChPowertrain::DriveMode  mmode)
overridevirtual

Use this function to set the mode of automatic transmission.

This simplified model does not have a transmission box.

Implements chrono::vehicle::ChPowertrain.

void chrono::vehicle::generic::Generic_SimpleMapPowertrain::SetSelectedGear ( int  igear)

Use this function to shift from one gear to another.

A zero latency shift is assumed. Note, index starts from 0.

void chrono::vehicle::generic::Generic_SimpleMapPowertrain::Synchronize ( double  time,
double  throttle,
double  shaft_speed 
)
overridevirtual

Update the state of this powertrain system at the current time.

The powertrain system is provided the current driver throttle input, a value in the range [0,1], and the current angular speed of the transmission shaft (from the driveline).

Parameters
[in]timecurrent time
[in]throttlecurrent throttle input [0,1]
[in]shaft_speedcurrent angular speed of the transmission shaft

Implements chrono::vehicle::ChPowertrain.