chrono::vehicle Namespace Reference

Description

Namespace with classes for the VEHICLE module.

Namespaces

 generic
 Namespace for the generic wheeled vehicle model.
 
 hmmwv
 Namespace for the HMMWV vehicle model.
 
 m113
 Namespace for the M113 segmented track vehicle.
 
 TrackedCollisionFamily
 Enumerations for tracked vehicle collision families.
 
 TrackedCollisionFlag
 Enumerations for track collision flags.
 
 WheeledCollisionFamily
 Enumerations for wheeled vehicle collision families.
 

Classes

class  ANCFTire
 ANCF tire constructed with data from file (JSON format). More...
 
class  AntirollBarRSD
 RSD antirollbar model constructed with data from file (JSON format). More...
 
struct  BodyState
 Structure to communicate a full body state. More...
 
class  BrakeSimple
 Vehicle simple brake model constructed with data from file (JSON format). More...
 
class  ChAdaptiveSpeedController
 Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
 
class  ChANCFTire
 ANCF tire template. More...
 
class  ChAntirollBar
 Base class for an anti-roll bar subsystem. More...
 
class  ChAntirollBarRSD
 Template for an anti-roll subsystem using an RSD. More...
 
class  ChBrake
 Base class for a brake subsystem. More...
 
class  ChBrakeSimple
 Template for a simple brake subsystem. More...
 
class  ChChassis
 Base class for the chassis vehicle subsystem. More...
 
class  ChChassisContactCallback
 Callback class for specifying chassis contact geometry. More...
 
class  ChDataDriver
 Driver inputs from data file. More...
 
class  ChDataDriverSTR
 Driver inputs for a suspension test rig from data file. More...
 
class  ChDeformableTire
 Base class for a deformable tire model. More...
 
class  ChDoubleIdler
 Base class for a double idler (template definition). More...
 
class  ChDoubleRoadWheel
 Base class for a double road wheel (template definition). More...
 
class  ChDoubleRoller
 Base class for a double roller (template definition). More...
 
class  ChDoubleWishbone
 Base class for a double-A arm suspension modeled with bodies and constraints. More...
 
class  ChDoubleWishboneReduced
 Base class for a double-A arm suspension modeled with distance constraints. More...
 
class  ChDriveline
 Base class for a driveline subsystem. More...
 
class  ChDriver
 Base class for a vehicle driver system. More...
 
class  ChDriverInputsCallback
 Callback class for specifying driver inputs at a specified time. More...
 
class  ChDriverSTR
 Base class for a suspension test rig driver system. More...
 
class  ChFEATire
 Co-rotational FEA tire template. More...
 
class  ChFialaTire
 Fiala based tire model. More...
 
class  ChHendricksonPRIMAXX
 Base class for a Hendrickson PRIMAXX EX suspension. More...
 
class  ChIdler
 Base class for an idler subsystem. More...
 
class  ChIrrGuiDriver
 Interactive driver model using keyboard inputs. More...
 
class  ChIrrGuiDriverSTR
 Irrlicht-based GUI driver for the a suspension test rig. More...
 
class  ChIrrGuiDriverTTR
 Irrlicht-based GUI driver for the a track test rig. More...
 
class  ChLeafspringAxle
 Base class for a leaf-spring solid axle suspension. More...
 
class  ChLinearDamperRWAssembly
 Base class for a torsion-bar suspension system using linear dampers (template definition). More...
 
class  ChLugreTire
 Tire model based on LuGre friction model. More...
 
class  ChMacPhersonStrut
 Base class for a MacPherson strut modeled with bodies and constraints. More...
 
class  ChMultiLink
 Base class for a multi-link suspension modeled with bodies and constraints. More...
 
class  ChPac89Tire
 Pacjeka 89 tire model. More...
 
class  ChPacejkaTire
 Concrete tire class that implements the Pacejka tire model. More...
 
class  ChPart
 Base class for a vehicle subsystem. More...
 
class  ChPathFollowerACCDriver
 Closed-loop path-follower driver model. More...
 
class  ChPathFollowerDriver
 Closed-loop path-follower driver model. More...
 
class  ChPathSteeringController
 Concrete path-following steering PID controller. More...
 
class  ChPitmanArm
 Base class for a Pitman Arm steering subsystem. More...
 
class  ChPitmanArmShafts
 Base class for a Pitman Arm steering subsystem with compliant steering column. More...
 
class  ChPowertrain
 Base class for a powertrain system. More...
 
class  ChRackPinion
 Base class for a Rack-Pinion steering subsystem. More...
 
class  ChReissnerTire
 Tire template for tires based on Reissner shells This tire is modeled as a mesh composed of Reissner-Mindlin 4 nodes shell elements. More...
 
class  ChRigidChassis
 Template for a rigid-body chassis vehicle subsystem. More...
 
class  ChRigidPinnedAxle
 Base class for a rigid suspension with a pinned axle. More...
 
class  ChRigidSuspension
 Base class for a rigid suspension, i.e. More...
 
class  ChRigidTire
 Rigid tire model. More...
 
class  ChRoadWheel
 Base class for a road wheel subsystem. More...
 
class  ChRoadWheelAssembly
 Base class for tracked vehicle suspension (road-wheel assembly) subsystem. More...
 
class  ChRoller
 Base class for a roller wheel subsystem. More...
 
class  ChRotaryArm
 Base class for a Toe Bar steering subsystem. More...
 
class  ChRotationalDamperRWAssembly
 Base class for a torsion-bar suspension system using a rotational damper (template definition). More...
 
class  ChSemiTrailingArm
 Base class for a semi-trailing arm suspension (non-steerable). More...
 
class  ChShaftsDriveline2WD
 2WD driveline model template based on ChShaft objects. More...
 
class  ChShaftsDriveline4WD
 4WD driveline model template based on ChShaft objects. More...
 
class  ChShaftsPowertrain
 Template for a powertrain model using shaft elements. More...
 
class  ChSimpleDriveline
 Simple driveline model. More...
 
class  ChSimpleMapPowertrain
 Simple powertrain model, based on speed-torque engine maps. More...
 
class  ChSimplePowertrain
 Template for simplified powertrain model. More...
 
class  ChSimpleTrackDriveline
 Simple driveline model for a tracked vehicle. More...
 
class  ChSingleIdler
 Base class for a single idler (template definition). More...
 
class  ChSingleRoadWheel
 Base class for a single road wheel (template definition). More...
 
class  ChSolidAxle
 Base class for a solid axle suspension modeled with bodies and constraints. More...
 
class  ChSpeedController
 Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
 
class  ChSprocket
 Base class for a tracked vehicle sprocket. More...
 
class  ChSprocketBand
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketBandANCF
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketBandBushing
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketDoublePin
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketSinglePin
 Base class for a sprocket template with gear profile composed of circular arcs. More...
 
class  ChSteering
 Base class for a steering subsystem. More...
 
class  ChSteeringController
 Base class for all steering path-following PID controllers. More...
 
class  ChSuspension
 Base class for a suspension subsystem. More...
 
class  ChSuspensionTestRig
 Definition of a suspension test rig. More...
 
class  ChTerrain
 Base class for a terrain system. More...
 
class  ChThreeLinkIRS
 Base class for a 3-link independent rear suspension (non-steerable). More...
 
class  ChTire
 Base class for a tire system. More...
 
class  ChTireContactCallback
 Callback class for specifying tire contact geometry. More...
 
class  ChTMeasyTire
 TMeasy tire model. More...
 
class  ChToeBarLeafspringAxle
 Base class for a steerable leaf-spring solid axle suspension. More...
 
class  ChTrackAssembly
 Definition of a track assembly. More...
 
class  ChTrackAssemblyBand
 Definition of a continuous band track assembly. More...
 
class  ChTrackAssemblyBandANCF
 Definition of a continuous band track assembly using an ANCFshell-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...
 
class  ChTrackAssemblyBandBushing
 Definition of a continuous band track assembly using a bushing-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...
 
class  ChTrackAssemblyDoublePin
 Definition of a double-pin track assembly. More...
 
class  ChTrackAssemblySinglePin
 Definition of a single-pin track assembly. More...
 
class  ChTrackBrake
 Base class for a tracked vehicle brake subsystem. More...
 
class  ChTrackBrakeSimple
 Simple brake created with constant torque opposing sprocket rotation. More...
 
struct  ChTrackContactInfo
 Contact information data structure. More...
 
class  ChTrackContactManager
 Class for monitoring contacts of tracked vehicle subsystems. More...
 
class  ChTrackDriveline
 Base class for a tracked vehicle driveline. More...
 
class  ChTrackDrivelineBDS
 Track driveline model template based on ChShaft objects. More...
 
class  ChTrackedVehicle
 Base class for chrono tracked vehicle systems. More...
 
class  ChTrackedVehicleIrrApp
 Customized Chrono Irrlicht application for tracked vehicle visualization. More...
 
class  ChTrackShoe
 Base class for a track shoe. More...
 
class  ChTrackShoeBand
 Base class for continuous band track shoes using rigid treads. More...
 
class  ChTrackShoeBandANCF
 Base class for a continuous band track shoe using an ANCFshell-based web. More...
 
class  ChTrackShoeBandBushing
 Base class for a continuous band track shoe using a bushing-based web. More...
 
class  ChTrackShoeDoublePin
 Base class for a double-pin track shoe (template definition). More...
 
class  ChTrackShoeSinglePin
 Base class for a single-pin track shoe (template definition). More...
 
class  ChTrackTestRig
 Definition of a suspension test rig. More...
 
class  ChVehicle
 Base class for chrono vehicle systems. More...
 
class  ChVehicleIrrApp
 custom event receiver for chase-cam control More...
 
class  ChVehicleOutput
 Base class for a vehicle output database. More...
 
class  ChVehicleOutputASCII
 ASCII text vehicle output database. More...
 
class  ChVehicleOutputHDF5
 HDF5 vehicle output database. More...
 
class  ChWheel
 Base class for a vehicle wheel subsystem. More...
 
class  ChWheeledVehicle
 Base class for chrono wheeled vehicle systems. More...
 
class  ChWheeledVehicleAssembly
 Wrapper class for a Chrono::Vehicle vehicle and powertrain assembly. More...
 
class  ChWheeledVehicleIrrApp
 Customized Chrono Irrlicht application for wheeled vehicle visualization. More...
 
class  CRGTerrain
 Concrete class for a (rigid) road loaded from an OpenCRG file. More...
 
class  DegressiveDamperForce
 Utility class for specifying a degressive translational damper force. More...
 
class  DoubleIdler
 Double idler model constructed with data from file (JSON format). More...
 
class  DoubleRoadWheel
 Double road-wheel model constructed with data from file (JSON format). More...
 
class  DoubleRoller
 Double roller model constructed with data from file (JSON format). More...
 
class  DoubleWishbone
 Double-A arm suspension constructed with data from file. More...
 
class  DoubleWishboneReduced
 Reduced double-A arm suspension constructed with data from file. More...
 
class  FEADeformableTerrain
 FEA Deformable terrain model. More...
 
class  FEATire
 ANCF tire constructed with data from file (JSON format). More...
 
class  FialaTire
 Fiala tire constructed with data from file (JSON format). More...
 
class  FlatTerrain
 Concrete class for a flat horizontal terrain. More...
 
class  GranularTerrain
 Granular terrain model. More...
 
class  HendricksonPRIMAXX
 Hendrickson PRIMAXX suspension constructed with data from file. More...
 
class  LeafspringAxle
 Leaf-spring solid axle suspension constructed with data from file. More...
 
class  LinearDamperForce
 Utility class for specifying a linear translational damper force. More...
 
class  LinearDamperRWAssembly
 Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...
 
class  LinearDamperTorque
 Utility class for specifying a linear rotational damper torque. More...
 
class  LinearSpringBistopForce
 Utility class for specifying a linear translational spring force with bump and rebound stop. More...
 
class  LinearSpringDamperActuatorForce
 Utility class for specifying a linear translational spring-damper force with pre-tension. More...
 
class  LinearSpringDamperActuatorTorque
 Utility class for specifying a linear rotational spring-damper torque with pre-tension. More...
 
class  LinearSpringDamperForce
 Utility class for specifying a linear translational spring-damper force. More...
 
class  LinearSpringDamperTorque
 Utility class for specifying a linear rotational spring-damper torque. More...
 
class  LinearSpringForce
 Utility class for specifying a linear translational spring force. More...
 
class  LinearSpringTorque
 Utility class for specifying a linear rotational spring torque. More...
 
class  LugreTire
 LuGre tire constructed with data from file (JSON format). More...
 
class  MacPhersonStrut
 MacPherson strut suspension constructed with data from file. More...
 
class  MapDamperForce
 Utility class for specifying a map translational damper force. More...
 
class  MapDamperTorque
 Utility class for specifying a map rotational damper torque. More...
 
class  MapSpringDamperActuatorForce
 Utility class for specifying a map translational spring-damper force with pre-tension. More...
 
class  MapSpringForce
 Utility class for specifying a map translational spring force. More...
 
class  MapSpringTorque
 Utility class for specifying a map rotational spring torque. More...
 
class  MultiLink
 Multi-link suspension constructed with data from file. More...
 
class  PitmanArm
 Pitman arm steering model constructed with data from file (JSON format). More...
 
class  RackPinion
 Rack-pinion steering model constructed with data from file (JSON format). More...
 
class  ReissnerTire
 Tire with Reissner shells, constructed with data from file (JSON format). More...
 
class  RigidChassis
 Vehicle rigid chassis model constructed with data from file (JSON format). More...
 
class  RigidTerrain
 Rigid terrain model. More...
 
class  RigidTire
 Rigid tire constructed with data from file (JSON format). More...
 
class  RotaryArm
 RotaryArm-pinion steering model constructed with data from file (JSON format). More...
 
class  RotationalDamperRWAssembly
 Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...
 
class  SCMDeformableSoil
 This class provides the underlying implementation of the Soil Contact Model. More...
 
class  SCMDeformableTerrain
 Deformable terrain model. More...
 
class  SemiTrailingArm
 Semi-trailing arm suspension constructed with data from file. More...
 
class  ShaftsDriveline2WD
 2WD driveline model template based on ChShaft objects using data from file (JSON format). More...
 
class  ShaftsDriveline4WD
 4WD driveline model template based on ChShaft objects using data from file (JSON format). More...
 
class  SimpleDriveline
 Simple driveline model template using data from file (JSON format). More...
 
class  SimpleMapPowertrain
 Simple powertrain subsystem (based on engine speed-torque maps via JSON file). More...
 
class  SimpleTrackDriveline
 Simple tracked vehicle driveline model template using data from file (JSON format). More...
 
class  SingleIdler
 Single idler model constructed with data from file (JSON format). More...
 
class  SingleRoadWheel
 Single road-wheel model constructed with data from file (JSON format). More...
 
class  SolidAxle
 Solid axle suspension constructed with data from file. More...
 
class  SprocketBand
 Tracked vehicle continuous-band sprocket model constructed with data from file (JSON format). More...
 
class  SprocketDoublePin
 Tracked vehicle double-pin sprocket model constructed with data from file (JSON format). More...
 
class  SprocketSinglePin
 Tracked vehicle single-pin sprocket model constructed with data from file (JSON format). More...
 
struct  TerrainForce
 Structure to communicate a set of generalized terrain contact forces (tire or track shoe). More...
 
class  ThreeLinkIRS
 Three-link Independent Rear Suspension constructed with data from file. More...
 
class  TMeasyTire
 TMeasy tire constructed with data from file (JSON format). More...
 
class  ToeBarLeafspringAxle
 Steerable leaf-spring solid axle suspension constructed with data from file. More...
 
class  TrackAssemblyBandANCF
 Band-ANCF track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblyBandBushing
 Band-bushing track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblyDoublePin
 Double-pin track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblySinglePin
 Single-pin track assembly model constructed from a JSON specification file. More...
 
class  TrackBrakeSimple
 Tracked vehicle simple brake model constructed with data from file (JSON format). More...
 
class  TrackedVehicle
 Tracked vehicle model constructed from a JSON specification file. More...
 
class  TrackShoeBandANCF
 Band-ANCF track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeBandBushing
 Band-bushing track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeDoublePin
 Double-pin track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeSinglePin
 Single-pin track shoe with central guide constructed with data from file (JSON format). More...
 
class  Wheel
 Vehicle wheel constructed with data from file (JSON format). More...
 
class  WheeledVehicle
 Wheeled vehicle model constructed from a JSON specification file. More...
 
class  WheelID
 Class to encode the ID of a vehicle wheel. More...
 
struct  WheelState
 Structure to communicate a full wheel body state. More...
 

Typedefs

typedef std::vector< BodyStateBodyStates
 Vector of body state structures.
 
typedef std::vector< WheelStateWheelStates
 Vector of wheel state structures.
 
typedef std::vector< TerrainForceTerrainForces
 Vector of terrain conatct force structures.
 
typedef std::vector< std::shared_ptr< ChRoadWheelAssembly > > ChRoadWheelAssemblyList
 Vector of handles to road wheel assembly subsystems.
 
typedef std::vector< std::shared_ptr< ChRoller > > ChRollerList
 Vector of handles to roller subsystems.
 
typedef std::vector< std::shared_ptr< ChSprocket > > ChSprocketList
 Vector of handles to sprocket subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackBrake > > ChTrackBrakeList
 Vector of handles to brake subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoe > > ChTrackShoeList
 Vector of handles to track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeBand > > ChTrackShoeBandList
 Vector of handles to continuous band track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeBandANCF > > ChTrackShoeBandANCFList
 Vector of handles to continuous band ANCFshell-based track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeBandBushing > > ChTrackShoeBandBushingList
 Vector of handles to continuous band bushing-based track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeDoublePin > > ChTrackShoeDoublePinList
 Vector of handles to double-pin track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeSinglePin > > ChTrackShoeSinglePinList
 Vector of handles to single-pin track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChAntirollBar > > ChAntirollbarList
 Vector of handles to antirollbar subsystems.
 
typedef std::vector< std::shared_ptr< ChBrake > > ChBrakeList
 Vector of handles to brake subsystems.
 
typedef std::vector< std::shared_ptr< ChSteering > > ChSteeringList
 Vector of handles to steering subsystems.
 
typedef std::vector< std::shared_ptr< ChSuspension > > ChSuspensionList
 Vector of handles to suspension subsystems.
 
typedef std::vector< std::shared_ptr< ChTire > > ChTireList
 Vector of handles to tire subsystems.
 
typedef std::vector< std::shared_ptr< ChWheel > > ChWheelList
 Vector of handles to wheel subsystems.
 

Enumerations

enum  ChassisCollisionType { ChassisCollisionType::NONE, ChassisCollisionType::PRIMITIVES, ChassisCollisionType::MESH }
 
enum  VehicleSide { LEFT = 0, RIGHT = 1 }
 Enum for the side (left/right) of a vehicle. More...
 
enum  VisualizationType { VisualizationType::NONE, VisualizationType::PRIMITIVES, VisualizationType::MESH }
 Enum for visualization types. More...
 
enum  TireModelType {
  TireModelType::RIGID, TireModelType::RIGID_MESH, TireModelType::PACEJKA, TireModelType::LUGRE,
  TireModelType::FIALA, TireModelType::ANCF, TireModelType::REISSNER, TireModelType::FEA,
  TireModelType::PAC89, TireModelType::TMEASY
}
 Enum for available tire models. More...
 
enum  PowertrainModelType { PowertrainModelType::SHAFTS, PowertrainModelType::SIMPLE_MAP, PowertrainModelType::SIMPLE }
 Enum for available powertrain model templates. More...
 
enum  SuspensionType {
  SuspensionType::DOUBLE_WISHBONE, SuspensionType::DOUBLE_WISHBONE_REDUCED, SuspensionType::SOLID_AXLE, SuspensionType::MULTI_LINK,
  SuspensionType::HENDRICKSON_PRIMAXX, SuspensionType::MACPHERSON_STRUT, SuspensionType::SEMI_TRAILING_ARM, SuspensionType::THREE_LINK_IRS,
  SuspensionType::RIGID_PINNED, SuspensionType::RIGID_SUSPENSION
}
 Enum for available wheeled-vehicle suspension model templates. More...
 
enum  SteeringType { SteeringType::PITMAN_ARM, SteeringType::PITMAN_ARM_SHAFTS, SteeringType::RACK_PINION }
 Enum for available wheeled-vehicle steering model templates. More...
 
enum  DrivelineType { DrivelineType::FWD, DrivelineType::RWD, DrivelineType::AWD, DrivelineType::SIMPLE }
 Enum for drive types. More...
 
enum  TrackShoeType { TrackShoeType::SINGLE_PIN, TrackShoeType::DOUBLE_PIN, TrackShoeType::BAND_BUSHING, TrackShoeType::BAND_ANCF }
 Enum for track shoe types. More...
 
enum  GuidePinType { GuidePinType::CENTRAL_PIN, GuidePinType::LATERAL_PIN }
 Enum for guide pin (track shoe/roadwheel/idler). More...
 
enum  OutputInformation { OUT_SPRINGS = 1 << 0, OUT_SHOCKS = 1 << 1, OUT_CONSTRAINTS = 1 << 2, OUT_TESTRIG = 1 << 3 }
 Flags for output (log/debug). More...
 

Functions

void SetDataPath (const std::string &path)
 Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).
 
const std::string & GetDataPath ()
 Get the current path to the Chrono::Vehicle data directory (thread safe).
 
std::string GetDataFile (const std::string &filename)
 Get the complete path to the specified filename (thread safe). More...
 
template<typename T >
std::ostream & operator<< (std::ostream &out, const ChVector< T > &v)
 
template<typename T >
std::ostream & operator<< (std::ostream &out, const ChQuaternion< T > &q)
 
std::string format_number (int num, int precision)
 
ChVector LoadVectorJSON (const Value &a)
 
ChQuaternion LoadQuaternionJSON (const Value &a)
 
ChColor LoadColorJSON (const Value &a)
 
CH_VEHICLE_API ChVector LoadVectorJSON (const rapidjson::Value &a)
 Load and return a ChVector from the specified JSON array.
 
CH_VEHICLE_API ChQuaternion LoadQuaternionJSON (const rapidjson::Value &a)
 Load and return a ChQuaternion from the specified JSON array.
 
CH_VEHICLE_API ChColor LoadColorJSON (const rapidjson::Value &a)
 Load and return a ChColor from the specified JSON array.
 
std::shared_ptr< ChBezierCurveStraightLinePath (const ChVector<> &start,const ChVector<> end,unsigned int num_intermediate=0)
 Straight line path between the two specified end points. More...
 
std::shared_ptr< ChBezierCurveCirclePath (const ChVector<> &start,double radius,double run,bool left_turn=true,int num_turns=1)
 Circular path with an initial straight-line run in the X direction. More...
 
std::shared_ptr< ChBezierCurveDoubleLaneChangePath (const ChVector<> &start,double ramp,double width,double length,double run,bool left_turn=true)
 Double lane change path with initial and final runs in the X direction. More...
 
double VolumeCyl (double r_outer, double r_inner, double cyl_height)
 
double InertiaRotCyl (double mass, double r_outer, double r_inner)
 
double InertiaTipCyl (double mass, double r_outer, double r_inner, double cyl_height)
 
std::vector< std::string > & splitStr (const std::string &s, char delim, std::vector< std::string > &elems)
 
std::vector< std::string > splitStr (const std::string &s, char delim)
 
template<class T >
fromString (const std::string &s)
 
template<class T >
fromTline (const std::string &tline)
 
void AttachNodeToShell (std::shared_ptr< ChMesh > m_mesh, std::shared_ptr< ChNodeFEAxyz > m_node)
 

Variables

const double rpm2rads = CH_C_PI / 30
 
const double safety_factor = 1.001
 
const double offset_factor = 3
 

Enumeration Type Documentation

Enumeration of collision shape types.

Enumerator
NONE 

no contact shapes

PRIMITIVES 

contact model composed of primitives

MESH 

contact model composed of convex hulls

Function Documentation

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::CirclePath ( const ChVector<> &  start,
double  radius,
double  run,
bool  left_turn = true,
int  num_turns = 1 
)

Circular path with an initial straight-line run in the X direction.

The generated curve loops around the circle for a specified number of times.

Example: left circle path
                   ___<___        Y
                  /       \       ^
                 /         \      |
                |     o     |     +---> X
                 \         /
 ________>________>___/
        run
Parameters
startstart point
radiuscircle radius
runlength of initial straight line
left_turnleft turn (true), right turn (false)
num_turnsnumber of turns around circle
CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::DoubleLaneChangePath ( const ChVector<> &  start,
double  ramp,
double  width,
double  length,
double  run,
bool  left_turn = true 
)

Double lane change path with initial and final runs in the X direction.

Example: left double lane change path
                                         Y
                                         ^
                  ______>______          |
                 /             \         +---> X
               /                 \
_____>_______/                     >_______
    run       ramp   length    ramp      run
Parameters
startstart point
ramplength of ramp sections
widthlane separation
lengthdistance in lane
runlength of initial and final straight lines
left_turnleft turn (true), right turn (false)
CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::StraightLinePath ( const ChVector<> &  start,
const ChVector<>  end,
unsigned int  num_intermediate = 0 
)

Straight line path between the two specified end points.

Intermediate points can be optionally included.

Parameters
startstart point
endend point
num_intermediatenumber of intermediate points