Description
Base class for a suspension subsystem.
#include <ChAxle.h>
Public Member Functions | |
| const ChVector & | GetSuspensionLocation () const |
| Get the location of the suspension subsystem relative to the chassis reference frame. More... | |
| void | SetOutput (bool state) |
| Enable/disable output for this subsystem. | |
| virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &susp_location, const ChVector<> &arb_location, std::shared_ptr< ChBody > tierod_body, int steering_index, double wheel_separation=0, double left_ang_vel=0, double right_ang_vel=0) |
| Initialize this axle subsystem, by initializing its components. More... | |
| void | Synchronize (double braking) |
| Synchronize this suspension subsystem. | |
| const ChWheelList & | GetWheels () const |
| Get all wheels from this axle. More... | |
| std::shared_ptr< ChWheel > | GetWheel (VehicleSide side, WheelLocation location=SINGLE) const |
| Get the specified wheel of this axle. | |
Public Attributes | |
| std::shared_ptr< ChSuspension > | m_suspension |
| std::shared_ptr< ChBrake > | m_brake_left |
| std::shared_ptr< ChBrake > | m_brake_right |
| std::shared_ptr< ChAntirollBar > | m_antirollbar |
| ChWheelList | m_wheels |
Protected Attributes | |
| ChVector | m_susp_location |
| suspension location relative to chassis | |
| int | m_steering_index |
| index of associated steering mechanism | |
| bool | m_double_wheel |
| true if doulbe wheels on each side | |
| double | m_wheel_separation |
| distance between wheel centers (0 for single wheel) | |
Member Function Documentation
◆ GetSuspensionLocation()
|
inline |
Get the location of the suspension subsystem relative to the chassis reference frame.
The suspension reference frame is always aligned with the chassis reference frame.
◆ GetWheels()
|
inline |
Get all wheels from this axle.
The wheels associated with an axle are assumed to be ordered from inner to outer wheels, first left then right. In other words, for a single-wheel axle the order is left wheel, right wheel. For a double-wheel axle, the order is inner left, inner right, outer left, outer right.
◆ Initialize()
|
virtual |
Initialize this axle subsystem, by initializing its components.
The suspension 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. 'tierod_body' is a handle to the body to which the suspension tierods are to be attached. For a steered suspension, this will be the steering (central) link of a suspension subsystem. Otherwise, this is the chassis. If this suspension is steered, 'steering_index' indicates the index of the associated steering mechanism in the vehicle's list (-1 for a non-steered suspension). 'wheel_separation' is the distance between wheel centers on one side of the axle (if using double wheels). The default value of 0 indicates the common case of a single wheel per side.
- Parameters
-
[in] chassis handle to the chassis body [in] susp_location suspension location relative to the chassis frame [in] arb_location antirollbar location relative to chassis frame [in] tierod_body body to which tireods are connected [in] steering_index index of the associated steering mechanism [in] wheel_separation distance between wheel centers on one side [in] left_ang_vel initial angular velocity of left wheel [in] right_ang_vel initial angular velocity of right wheel
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChAxle.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChAxle.cpp
