Description

LMTV chassis subsystem.

#include <LMTV_Chassis.h>

Inheritance diagram for chrono::vehicle::mtv::LMTV_Chassis:

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Collaboration diagram for chrono::vehicle::mtv::LMTV_Chassis:

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Public Member Functions
	LMTV_Chassis (const std::string &name, bool fixed=false, ChassisCollisionType chassis_collision_type=ChassisCollisionType::NONE)

virtual double	GetMass () const override
	Return the mass of the front chassis body.

virtual double	GetRearMass () const override
	Return the mass of the rear chassis body.

virtual const ChMatrix33 &	GetInertia () const override
	Return the inertia tensor of the chassis body.

virtual const ChMatrix33 &	GetRearInertia () const override
	Return the inertia tensor of the chassis body.

virtual const ChVector &	GetLocalPosCOM () const override
	Get the location of the center of mass in the chassis frame.

virtual const ChVector &	GetRearLocalPosCOM () const override
	Get the location of the center of mass in the chassis frame.

virtual ChCoordsys	GetLocalDriverCoordsys () const override
	Get the local driver position and orientation. More...

virtual const ChVector &	GetTorsionJointLocalPos () const override
	Get the location of the torsion revolute joint.

virtual const double	GetTorsionStiffness () const override
	Get the torsion stiffness of the chassis.

Public Member Functions inherited from chrono::vehicle::ChTorsionChassis
	ChTorsionChassis (const std::string &name, bool fixed=false)
	Construct a vehicle subsystem with the specified name. More...

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

ChVector	GetTotalCOMPos ()
	Get the location of the total center of rear mass in the chassis frame.

std::shared_ptr< ChBodyAuxRef >	GetRearBody () const
	Get a handle to the vehicle's rear chassis body.

bool	HasCollision () const
	Specifies whether or not collision shapes were defined.

bool	HasPrimitives () const
	Specifies whether or not visualization primitives were defined.

bool	HasRearPrimitives () const
	Specifies whether or not visualization primitives were defined.

bool	HasMesh () const
	Specifies whether or not a visualization mesh was defined.

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with chassis visualization mesh. More...

virtual void	SetCollide (bool state) override
	Enable/disable contact for the chassis. More...

virtual void	Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0) override
	Initialize the chassis at the specified global position and orientation. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets () override final
	Remove all visualization assets from this subsystem.

virtual double	GetTotalMass () const
	Get the total chassis mass.

Public Member Functions inherited from chrono::vehicle::ChChassis
	ChChassis (const std::string &name, bool fixed=false)
	Construct a vehicle subsystem with the specified name. More...

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Get a handle to the vehicle's chassis body.

const ChVector &	GetPos () const
	Get the global location of the chassis reference frame origin.

ChQuaternion	GetRot () const
	Get the orientation of the chassis reference frame. More...

const ChVector &	GetCOMPos () const
	Get the global location of the chassis center of mass.

ChQuaternion	GetCOMRot () const
	Get the orientation of the chassis centroidal frame. More...

ChVector	GetDriverPos () const
	Get the global location of the driver.

double	GetSpeed () const
	Get the vehicle speed. More...

double	GetCOMSpeed () const
	Get the speed of the chassis COM. More...

ChVector	GetPointLocation (const ChVector<> &locpos) const
	Get the global position of the specified point. More...

ChVector	GetPointVelocity (const ChVector<> &locpos) const
	Get the global velocity of the specified point. More...

ChVector	GetPointAcceleration (const ChVector<> &locpos) const
	Get the acceleration at the specified point. More...

void	SetFixed (bool val)
	Set the "fixed to ground" status of the chassis body.

bool	IsFixed () const
	Return true if the chassis body is fixed to ground.

void	AddMarker (const std::string &name, const ChCoordsys<> &pos)
	Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkers () const

void	SetAerodynamicDrag (double Cd, double area, double air_density)
	Set parameters and enable aerodynamic drag force calculation. More...

virtual void	Synchronize (double time)
	Update the state of the chassis subsystem. 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.

Protected Member Functions
virtual void	CreateContactMaterials (ChContactMethod contact_method) override
	Load contact materials. More...

Protected Member Functions inherited from chrono::vehicle::ChTorsionChassis
virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const override
	Output data for this subsystem's component list to the specified database.

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Protected Attributes
ChMatrix33	m_inertia

ChMatrix33	m_rear_inertia

Protected Attributes inherited from chrono::vehicle::ChTorsionChassis
std::shared_ptr< ChBodyAuxRef >	m_rear_body
	handle to the rear chassis body

std::shared_ptr< ChLinkLockRevolute >	m_torsion_joint
	handle to the torsion joint

std::shared_ptr< ChLinkRotSpringCB >	m_torsion_spring
	handle to the torsion spring

bool	m_has_collision

std::vector< std::shared_ptr< ChMaterialSurface > >	m_materials

std::vector< BoxShape >	m_coll_boxes

std::vector< SphereShape >	m_coll_spheres

std::vector< CylinderShape >	m_coll_cylinders

std::vector< ConvexHullsShape >	m_coll_hulls

bool	m_has_primitives

std::vector< BoxShape >	m_vis_boxes

std::vector< SphereShape >	m_vis_spheres

std::vector< CylinderShape >	m_vis_cylinders

bool	m_has_rear_primitives

std::vector< BoxShape >	m_rear_vis_boxes

std::vector< SphereShape >	m_rear_vis_spheres

std::vector< CylinderShape >	m_rear_vis_cylinders

bool	m_has_mesh

std::string	m_vis_mesh_file

bool	m_has_rear_mesh

std::string	m_vis_rear_mesh_file

Protected Attributes inherited from chrono::vehicle::ChChassis
std::shared_ptr< ChBodyAuxRef >	m_body
	handle to the chassis body

std::vector< std::shared_ptr< ChMarker > >	m_markers
	list of user-defined markers

bool	m_fixed
	is the chassis body fixed to ground?

bool	m_apply_drag
	enable aerodynamic drag force?

double	m_Cd
	drag coefficient

double	m_area
	reference area (m2)

double	m_air_density
	air density (kg/m3)

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

Static Protected Attributes
static const double	m_mass = 3946

static const ChVector	m_inertiaXX

static const ChVector	m_inertiaXY

static const ChVector	m_COM_loc

static const ChCoordsys	m_driverCsys

static const double	m_rear_mass = 1938.333

static const ChVector	m_rear_inertiaXX

static const ChVector	m_rear_inertiaXY

static const ChVector	m_rear_COM_loc

static const ChVector	m_torsion_joint_pos

static const double	m_torsion_stiffness = 7085

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...

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.

Member Function Documentation

◆ CreateContactMaterials()

void chrono::vehicle::mtv::LMTV_Chassis::CreateContactMaterials ( ChContactMethod contact_method )

overrideprotectedvirtual

Load contact materials.

A derived class must implement this only if it sets m_has_collision to 'true' and should use contact materials consistent with the specified contact method.

Reimplemented from chrono::vehicle::ChTorsionChassis.

◆ GetLocalDriverCoordsys()

virtual ChCoordsys chrono::vehicle::mtv::LMTV_Chassis::GetLocalDriverCoordsys ( ) const

inlineoverridevirtual

Get the local driver position and orientation.

This is a coordinate system relative to the chassis reference frame.

Implements chrono::vehicle::ChChassis.

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/LMTV_Chassis.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/LMTV_Chassis.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ CreateContactMaterials()

◆ GetLocalDriverCoordsys()