Description

Base class for the chassis vehicle subsystem.

#include <ChChassis.h>

Inheritance diagram for chrono::vehicle::ChChassis:

[legend]

Collaboration diagram for chrono::vehicle::ChChassis:

Public Member Functions
	ChChassis (const std::string &name, bool fixed=false)
	Construct a vehicle subsystem with the specified name. More...

virtual double	GetMass () const =0
	Get the chassis mass.

virtual const ChMatrix33 &	GetInertia () const =0
	Get the inertia tensor of the chassis body. More...

virtual const ChVector &	GetLocalPosCOM () const =0
	Get the location of the center of mass in the chassis frame.

virtual ChCoordsys	GetLocalDriverCoordsys () const =0
	Get the local driver position and orientation. More...

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Get a handle to the vehicle's chassis body.

const ChVector &	GetPos () const
	Get the global location of the chassis reference frame origin.

const ChQuaternion &	GetRot () const
	Get the orientation of the chassis reference frame. More...

const ChVector &	GetCOMPos () const
	Get the global location of the chassis center of mass.

const ChQuaternion &	GetCOMRot () const
	Get the orientation of the chassis centroidal frame. More...

ChVector	GetDriverPos () const
	Get the global location of the driver.

double	GetSpeed () const
	Get the vehicle speed. More...

double	GetCOMSpeed () const
	Get the speed of the chassis COM. More...

ChVector	GetPointLocation (const ChVector<> &locpos) const
	Get the global position of the specified point. More...

ChVector	GetPointVelocity (const ChVector<> &locpos) const
	Get the global velocity of the specified point. More...

ChVector	GetPointAcceleration (const ChVector<> &locpos) const
	Get the acceleration at the specified point. More...

virtual void	Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0)
	Initialize the chassis at the specified global position and orientation. More...

virtual void	SetCollide (bool state)=0
	Enable/disable contact for the chassis. More...

void	SetFixed (bool val)
	Set the "fixed to ground" status of the chassis body.

bool	IsFixed () const
	Return true if the chassis body is fixed to ground.

void	AddMarker (const std::string &name, const ChCoordsys<> &pos)
	Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkers () const

void	SetAerodynamicDrag (double Cd, double area, double air_density)
	Set parameters and enable aerodynamic drag force calculation. More...

virtual void	Synchronize (double time)
	Update the state of the chassis subsystem. More...

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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

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.

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.

Protected Attributes
std::shared_ptr< ChBodyAuxRef >	m_body
	handle to the chassis body

std::vector< std::shared_ptr< ChMarker > >	m_markers
	list of user-defined markers

bool	m_fixed
	is the chassis body fixed to ground?

bool	m_apply_drag
	enable aerodynamic drag force?

double	m_Cd
	drag coefficient

double	m_area
	reference area (m2)

double	m_air_density
	air density (kg/m3)

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...

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::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

◆ ChChassis()

chrono::vehicle::ChChassis::ChChassis	(	const std::string &	name,
		bool	fixed = `false`
	)

Construct a vehicle subsystem with the specified name.

Parameters

[in]	name	name of the subsystem
[in]	fixed	is the chassis body fixed to ground?

Member Function Documentation

◆ AddMarker()

void chrono::vehicle::ChChassis::AddMarker	(	const std::string &	name,
		const ChCoordsys<> &	pos
	)

Add a marker on the chassis body at the specified position (relative to the chassis reference frame).

If called before initialization, this function has no effect.

Parameters

[in]	name	marker name
[in]	pos	marker position relative to chassis reference frame

◆ GetCOMRot()

const ChQuaternion& chrono::vehicle::ChChassis::GetCOMRot ( ) const

inline

Get the orientation of the chassis centroidal frame.

The chassis orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

◆ GetCOMSpeed()

double chrono::vehicle::ChChassis::GetCOMSpeed ( ) const

inline

Get the speed of the chassis COM.

Return the speed measured at the chassis center of mass.

◆ GetInertia()

virtual const ChMatrix33& chrono::vehicle::ChChassis::GetInertia ( ) const

pure virtual

Get the inertia tensor of the chassis body.

The return 3x3 symmetric matrix contains the following values:

 [ int{x^2+z^2}dm    -int{xy}dm    -int{xz}dm    ]
 [                  int{x^2+z^2}   -int{yz}dm    ]
 [                                int{x^2+y^2}dm ]

and represents the inertia tensor with respect to a centroidal frame aligned with the chassis reference frame.

Implemented in chrono::vehicle::citybus::CityBus_Chassis, chrono::vehicle::hmmwv::HMMWV_Chassis, chrono::vehicle::m113::M113_Chassis, chrono::vehicle::man::MAN_10t_Chassis, chrono::vehicle::man::MAN_5t_Chassis, chrono::vehicle::man::MAN_7t_Chassis, chrono::vehicle::sedan::Sedan_Chassis, chrono::vehicle::uaz::UAZBUS_Chassis, chrono::vehicle::RigidChassis, and chrono::vehicle::generic::Generic_Chassis.

◆ GetLocalDriverCoordsys()

virtual ChCoordsys chrono::vehicle::ChChassis::GetLocalDriverCoordsys ( ) const

pure virtual

Get the local driver position and orientation.

This is a coordinate system relative to the chassis reference frame.

Implemented in chrono::vehicle::citybus::CityBus_Chassis, chrono::vehicle::hmmwv::HMMWV_Chassis, chrono::vehicle::m113::M113_Chassis, chrono::vehicle::man::MAN_10t_Chassis, chrono::vehicle::man::MAN_5t_Chassis, chrono::vehicle::man::MAN_7t_Chassis, chrono::vehicle::sedan::Sedan_Chassis, chrono::vehicle::uaz::UAZBUS_Chassis, chrono::vehicle::RigidChassis, and chrono::vehicle::generic::Generic_Chassis.

◆ GetPointAcceleration()

ChVector chrono::vehicle::ChChassis::GetPointAcceleration ( const ChVector<> & locpos ) const

Get the acceleration at the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

◆ GetPointLocation()

ChVector chrono::vehicle::ChChassis::GetPointLocation ( const ChVector<> & locpos ) const

Get the global position of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned location is expressed in the global reference frame.

◆ GetPointVelocity()

ChVector chrono::vehicle::ChChassis::GetPointVelocity ( const ChVector<> & locpos ) const

Get the global velocity of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned velocity is expressed in the global reference frame.

◆ GetRot()

const ChQuaternion& chrono::vehicle::ChChassis::GetRot ( ) const

inline

Get the orientation of the chassis reference frame.

The chassis orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

◆ GetSpeed()

double chrono::vehicle::ChChassis::GetSpeed ( ) const

inline

Get the vehicle speed.

Return the speed measured at the origin of the chassis reference frame.

◆ Initialize()

void chrono::vehicle::ChChassis::Initialize	(	ChSystem *	system,
		const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel,
		int	collision_family = `0`
	)

virtual

Initialize the chassis at the specified global position and orientation.

Parameters

[in]	system	containing system
[in]	chassisPos	absolute chassis position
[in]	chassisFwdVel	initial chassis forward velocity
[in]	collision_family	chassis collision family

Reimplemented in chrono::vehicle::ChRigidChassis.

◆ SetAerodynamicDrag()

void chrono::vehicle::ChChassis::SetAerodynamicDrag	(	double	Cd,
		double	area,
		double	air_density
	)

Set parameters and enable aerodynamic drag force calculation.

By default, aerodynamic drag force calculation is disabled.

Parameters

[in]	Cd	drag coefficient
[in]	area	reference area
[in]	air_density	air density

◆ SetCollide()

virtual void chrono::vehicle::ChChassis::SetCollide ( bool state )

pure virtual

Enable/disable contact for the chassis.

This function controls contact of the chassis with all other collision shapes in the simulation.

Implemented in chrono::vehicle::ChRigidChassis.

◆ Synchronize()

void chrono::vehicle::ChChassis::Synchronize ( double time )

virtual

Update the state of the chassis subsystem.

The base class implementation applies aerodynamic drag forces to the chassis body (if enabled).

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

/builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChChassis()

Member Function Documentation

◆ AddMarker()

◆ GetCOMRot()

◆ GetCOMSpeed()

◆ GetInertia()

◆ GetLocalDriverCoordsys()

◆ GetPointAcceleration()

◆ GetPointLocation()

◆ GetPointVelocity()

◆ GetRot()

◆ GetSpeed()

◆ Initialize()

◆ SetAerodynamicDrag()

◆ SetCollide()

◆ Synchronize()