Description

ANCF tire constructed with data from file (JSON format).

#include <ANCFTire.h>

Inheritance diagram for chrono::vehicle::ANCFTire:

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Collaboration diagram for chrono::vehicle::ANCFTire:

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Public Member Functions
	ANCFTire (const std::string &filename)

	ANCFTire (const rapidjson::Document &d)

virtual double	GetRadius () const override
	Get the tire radius.

virtual double	GetRimRadius () const override
	Get the rim radius (inner tire radius).

virtual double	GetWidth () const override
	Get the tire width.

virtual double	GetDefaultPressure () const override
	Get the default tire pressure.

virtual std::vector< std::shared_ptr< fea::ChNodeFEAbase > >	GetConnectedNodes () const override
	Return list of nodes connected to the rim.

virtual void	CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side) override
	Create the FEA nodes and elements. More...

Public Member Functions inherited from chrono::vehicle::ChANCFTire
	ChANCFTire (const std::string &name)

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

Public Member Functions inherited from chrono::vehicle::ChDeformableTire
	ChDeformableTire (const std::string &name)
	Construct a deformable tire with the specified name.

void	SetContactSurfaceType (ContactSurfaceType type)
	Set the type of contact surface.

ContactSurfaceType	GetContactSurfaceType () const

void	SetContactNodeRadius (double radius)
	Set radius of contact nodes. More...

double	GetContactNodeRadius () const

void	SetContactFaceThickness (double thickness)
	Set thickness of contact faces (radius of swept sphere). More...

double	GetContactFaceThickness () const

std::shared_ptr< ChMaterialSurfaceSMC >	GetContactMaterial () const
	Get the tire contact material. More...

void	EnablePressure (bool val)
	Enable/disable tire pressure (default: true).

bool	IsPressureEnabled () const

void	EnableContact (bool val)
	Enable/disable tire contact (default: true).

bool	IsContactEnabled () const

void	EnableRimConnection (bool val)
	Enable/disable tire-rim connection (default: true).

bool	IsRimConnectionEnabled () const

fea::ChVisualizationFEAmesh *	GetMeshVisualization () const
	Get a handle to the mesh visualization.

std::shared_ptr< fea::ChMesh >	GetMesh () const
	Get the underlying FEA mesh.

std::shared_ptr< fea::ChContactSurface >	GetContactSurface () const
	Get the mesh contact surface. More...

std::shared_ptr< ChLoadContainer >	GetLoadContainer () const
	Get the load container associated with this tire.

void	SetPressure (double pressure)
	Set the tire pressure.

double	GetTireMass () const
	Calculate and return the tire mass. More...

virtual double	ReportMass () const override
	Report the tire mass.

virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override final
	Add visualization assets for the rigid tire subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the rigid tire subsystem.

Public Member Functions inherited from chrono::vehicle::ChTire
	ChTire (const std::string &name)

void	SetStepsize (double val)
	Set the value of the integration step size for the underlying dynamics (if applicable). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction. More...

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

virtual double	GetDeflection () const
	Report the tire deflection.

virtual void	Synchronize (double time, const ChTerrain &terrain)
	Update the state of this tire system at the current time. More...

virtual void	Advance (double step)
	Advance the state of this tire by the specified time step.

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.

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::ChDeformableTire
enum	ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
	Type of the mesh contact surface.

Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector	EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
	Utility function for estimating the tire moments of inertia. 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::ChANCFTire
virtual void	CreatePressureLoad () override final
	Create the ChLoad for applying pressure to the tire.

virtual void	CreateContactSurface () override final
	Create the contact surface for the tire mesh.

virtual void	CreateRimConnections (std::shared_ptr< ChBody > wheel) override final
	Create the tire-rim connections.

Protected Member Functions inherited from chrono::vehicle::ChTire
void	CalculateKinematics (double time, const WheelState &wheel_state, const ChTerrain &terrain)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChTriangleMeshShape >	AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
	Add mesh visualization to the body associated with this tire (a wheel spindle body). More...

void	RemoveVisualizationMesh (std::shared_ptr< ChTriangleMeshShape > trimesh_shape)
	Remove the specified mesh shape from the visualization assets of the body associated with this tire (a wheel spindle body).

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::ChTire
static bool	DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth)
	Collsion algorithm based on a paper of J. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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::ChDeformableTire
std::shared_ptr< fea::ChMesh >	m_mesh
	tire mesh

std::shared_ptr< ChLoadContainer >	m_load_container
	load container (for pressure load)

std::vector< std::shared_ptr< fea::ChLinkPointFrame > >	m_connections
	tire-wheel point connections

std::vector< std::shared_ptr< fea::ChLinkDirFrame > >	m_connectionsD
	tire-wheel direction connections

std::vector< std::shared_ptr< ChLinkMateFix > >	m_connectionsF
	tire-wheel fix connection (point+rotation)

bool	m_connection_enabled
	enable tire connections to rim

bool	m_pressure_enabled
	enable internal tire pressure

bool	m_contact_enabled
	enable tire-terrain contact

double	m_pressure
	internal tire pressure

ContactSurfaceType	m_contact_type
	type of contact surface model (node cloud or mesh)

double	m_contact_node_radius
	node radius (for node cloud contact surface)

double	m_contact_face_thickness
	face thickness (for mesh contact surface)

std::shared_ptr< ChMaterialSurfaceSMC >	m_contact_mat
	tire contact material

std::shared_ptr< fea::ChVisualizationFEAmesh >	m_visualization
	tire mesh visualization

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

CollisionType	m_collision_type
	method used for tire-terrain collision

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

◆ CreateMesh()

void chrono::vehicle::ANCFTire::CreateMesh	(	const ChFrameMoving<> &	wheel_frame,
		VehicleSide	side
	)

overridevirtual

Create the FEA nodes and elements.

The wheel rotational axis is assumed to be the Y axis.

Parameters

wheel_frame	frame of associated wheel
side	left/right vehicle side

Implements chrono::vehicle::ChDeformableTire.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ANCFTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ANCFTire.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ CreateMesh()