Description

Concrete class for a (rigid) road loaded from an OpenCRG file.

This type of terrain can be used in conjunction with tire models that perform their own collision detection (e.g. ChPacejkaTire, ChFiala, and ChLugreTire).

#include <CRGTerrain.h>

Inheritance diagram for chrono::vehicle::CRGTerrain:

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Collaboration diagram for chrono::vehicle::CRGTerrain:

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Public Member Functions
	CRGTerrain (ChSystem *system)
	Construct a default CRGTerrain. More...

void	UseMeshVisualization (bool val)
	Set the road visualization mode (mesh or boundary lines). More...

void	SetContactFrictionCoefficient (float friction_coefficient)
	Set coefficient of friction. More...

void	Initialize (const std::string &crg_file)
	Initialize the CRGTerrain from the specified OpenCRG file. More...

virtual double	GetHeight (double x, double y) const override
	Get the terrain height at the specified (x,y) location. More...

virtual ChVector	GetNormal (double x, double y) const override
	Get the terrain normal at the specified (x,y) location. More...

virtual float	GetCoefficientFriction (double x, double y) const override
	Get the terrain coefficient of friction at the specified (x,y) location. More...

std::shared_ptr< ChBezierCurve >	GetRoadCenterLine ()
	Get the road center line as a Bezier curve.

std::shared_ptr< ChBezierCurve >	GetRoadBoundaryLeft () const
	Get the road left boundary as a Bezier curve.

std::shared_ptr< ChBezierCurve >	GetRoadBoundaryRight () const
	Get the road right boundary as a Bezier curve.

std::shared_ptr< geometry::ChTriangleMeshConnected >	GetMesh () const
	Get the road mesh.

bool	IsPathClosed ()
	Is the road a round course (closed loop)?

double	GetLength ()
	Get length of the road.

double	GetWidth ()
	Get width of the road.

void	ExportMeshWavefront (const std::string &out_dir)
	Export road mesh to Wavefront file.

void	ExportMeshPovray (const std::string &out_dir)
	Export the patch mesh as a macro in a POV-Ray include file.

void	ExportCurvesPovray (const std::string &out_dir)
	Export the road boundary curves as a macro in a POV-Ray include file. More...

Public Member Functions inherited from chrono::vehicle::ChTerrain
virtual void	Synchronize (double time)
	Update the state of the terrain system at the specified time.

virtual void	Advance (double step)
	Advance the state of the terrain system by the specified duration.

void	RegisterFrictionFunctor (FrictionFunctor *functor)
	Specify the functor object to provide the coefficient of friction at given (x,y) locations.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChTerrain
FrictionFunctor *	m_friction_fun
	functor for location-dependent coefficient of friction

Constructor & Destructor Documentation

◆ CRGTerrain()

chrono::vehicle::CRGTerrain::CRGTerrain ( ChSystem * system )

Construct a default CRGTerrain.

The user should call optional Set methods and then Initialize.

Parameters

[in] system pointer to the containing multibody system

Member Function Documentation

◆ ExportCurvesPovray()

void chrono::vehicle::CRGTerrain::ExportCurvesPovray ( const std::string & out_dir )

Export the road boundary curves as a macro in a POV-Ray include file.

This function does nothing if using mesh visualization for the road.

◆ GetCoefficientFriction()

float chrono::vehicle::CRGTerrain::GetCoefficientFriction	(	double	x,
		double	y
	)		const

overridevirtual

Get the terrain coefficient of friction at the specified (x,y) location.

This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For CRGTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified at construction.

Implements chrono::vehicle::ChTerrain.

◆ GetHeight()

double chrono::vehicle::CRGTerrain::GetHeight	(	double	x,
		double	y
	)		const

overridevirtual

Get the terrain height at the specified (x,y) location.

Returns the constant value passed at construction.

Implements chrono::vehicle::ChTerrain.

◆ GetNormal()

ChVector chrono::vehicle::CRGTerrain::GetNormal	(	double	x,
		double	y
	)		const

overridevirtual

Get the terrain normal at the specified (x,y) location.

Returns a constant unit vector along the Z axis.

Implements chrono::vehicle::ChTerrain.

◆ Initialize()

void chrono::vehicle::CRGTerrain::Initialize ( const std::string & crg_file )

Initialize the CRGTerrain from the specified OpenCRG file.

Parameters

[in] crg_file OpenCRG road specification file

◆ SetContactFrictionCoefficient()

void chrono::vehicle::CRGTerrain::SetContactFrictionCoefficient ( float friction_coefficient )

inline

Set coefficient of friction.

The default value is 0.8

◆ UseMeshVisualization()

void chrono::vehicle::CRGTerrain::UseMeshVisualization ( bool val )

inline

Set the road visualization mode (mesh or boundary lines).

Default: mesh.

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

/builds/uwsbel/chrono/src/chrono_vehicle/terrain/CRGTerrain.h
/builds/uwsbel/chrono/src/chrono_vehicle/terrain/CRGTerrain.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ CRGTerrain()

Member Function Documentation

◆ ExportCurvesPovray()

◆ GetCoefficientFriction()

◆ GetHeight()

◆ GetNormal()

◆ Initialize()

◆ SetContactFrictionCoefficient()

◆ UseMeshVisualization()