Description

Template for an anti-roll subsystem using an RSD.

Base class for an anti-roll bar template modeled two arms connected with a revolute spring-damper. Derived from ChAntirollBar, but still and abstract base class.

The anti-roll bar subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The subsystem reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

#include <ChAntirollBarRSD.h>

Inheritance diagram for chrono::vehicle::ChAntirollBarRSD:

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Collaboration diagram for chrono::vehicle::ChAntirollBarRSD:

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Public Member Functions
	ChAntirollBarRSD (const std::string &name)

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

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, std::shared_ptr< ChBody > susp_body_left, std::shared_ptr< ChBody > susp_body_right) override
	The anti-roll bar subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). More...

virtual double	GetMass () const override
	Get the total mass of the anti-roll bar subsystem.

virtual ChVector	GetCOMPos () const override
	Get the current global COM location of the anti-roll bar subsystem.

virtual void	LogConstraintViolations () override
	Log current constraint violations.

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

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.

Protected Member Functions
virtual double	getArmMass () const =0
	Return the mass of the arm body.

virtual ChVector	getArmInertia ()=0
	Return the moments of inertia of the arm body.

virtual double	getArmLength () const =0
	Return the arm length (dimension in y direction).

virtual double	getArmWidth () const =0
	Return the arm width (dimension in X direction).

virtual double	getDroplinkHeight () const =0
	Return height of droplinks (dimension in Z direction).

virtual double	getArmRadius () const =0
	Return radius of arm (visualization only)

virtual double	getSpringCoefficient () const =0
	Return the rotational spring coefficient.

virtual double	getDampingCoefficient () const =0
	Return the rotational damping coefficient.

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
std::shared_ptr< ChBody >	m_arm_left
	handle to the left arm body

std::shared_ptr< ChBody >	m_arm_right
	handle to the right arm body

std::shared_ptr< ChLinkLockRevolute >	m_revolute_ch
	handle to revolute joint to chassis

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to central revolute joint

std::shared_ptr< ChLinkDistance >	m_link_left
	handle to the left droplink distance constraint

std::shared_ptr< ChLinkDistance >	m_link_right
	handle to the right droplink distance constraint

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

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.

Constructor & Destructor Documentation

◆ ChAntirollBarRSD()

chrono::vehicle::ChAntirollBarRSD::ChAntirollBarRSD ( const std::string & name )

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ Initialize()

void chrono::vehicle::ChAntirollBarRSD::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location,
		std::shared_ptr< ChBody >	susp_body_left,
		std::shared_ptr< ChBody >	susp_body_right
	)

overridevirtual

The anti-roll bar subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis).

It is assumed that the suspension reference frame is always aligned with the chassis reference frame. Finally, susp_body_left and susp_body_right are handles to the suspension bodies to which the anti-roll bar's droplinks are to be attached.

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame
[in]	susp_body_left	susp body to which left droplink is connected
[in]	susp_body_right	susp body to which right droplink is connected

Implements chrono::vehicle::ChAntirollBar.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/antirollbar/ChAntirollBarRSD.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/antirollbar/ChAntirollBarRSD.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChAntirollBarRSD()

Member Function Documentation

◆ Initialize()