Description

Base class for a vehicle subsystem.

It manages the part's name, visualization assets, and contact material.

#include <ChPart.h>

Inheritance diagram for chrono::vehicle::ChPart:

[legend]

Public Member Functions
	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.

Static Public Member Functions
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
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Static Protected Member Functions
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
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

Constructor & Destructor Documentation

◆ ChPart()

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

Construct a vehicle subsystem with the specified name.

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ Create()

void chrono::vehicle::ChPart::Create ( const rapidjson::Document & d )

protectedvirtual

Create a vehicle subsystem from JSON data.

A derived class must override this function and first invoke the base class implementation.

◆ ExportComponentList()

void chrono::vehicle::ChPart::ExportComponentList ( rapidjson::Document & jsonDocument ) const

virtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented in chrono::vehicle::ChTrackAssembly, chrono::vehicle::ChSprocket, chrono::vehicle::ChIdler, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChLinearDamperRWAssembly, chrono::vehicle::ChRackPinion, chrono::vehicle::ChRotationalDamperRWAssembly, chrono::vehicle::ChTrackShoeSinglePin, chrono::vehicle::ChRigidChassis, chrono::vehicle::ChRoadWheelAssembly, chrono::vehicle::ChRoadWheel, and chrono::vehicle::ChRoller.

◆ SetContactFrictionCoefficient()

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

inline

Set coefficient of friction.

The default value is 0.7

◆ SetContactMaterialCoefficients()

void chrono::vehicle::ChPart::SetContactMaterialCoefficients	(	float	kn,
		float	gn,
		float	kt,
		float	gt
	)

Set contact material coefficients.

These values are used directly to compute contact forces (if the containing system is so configured and if the SMC contact method is being used). The default values are: kn=2e5, gn=40, kt=2e5, gt=20

Parameters

[in]	kn	normal contact stiffness
[in]	gn	normal contact damping
[in]	kt	tangential contact stiffness
[in]	gt	tangential contact damping

◆ SetContactMaterialProperties()

void chrono::vehicle::ChPart::SetContactMaterialProperties	(	float	young_modulus,
		float	poisson_ratio
	)

Set contact material properties.

These values are used to calculate contact material coefficients (if the containing system is so configured and if the SMC contact method is being used). The default values are: Y = 2e5 and nu = 0.3

Parameters

[in]	young_modulus	Young's modulus of elasticity
[in]	poisson_ratio	Poisson ratio

◆ SetContactRestitutionCoefficient()

void chrono::vehicle::ChPart::SetContactRestitutionCoefficient ( float restitution_coefficient )

inline

Set coefficient of restitution.

The default value is 0.1

◆ TransformInertiaMatrix()

ChMatrix33 chrono::vehicle::ChPart::TransformInertiaMatrix	(	const ChVector<> &	moments,
		const ChVector<> &	products,
		const ChMatrix33<> &	vehicle_rot,
		const ChMatrix33<> &	body_rot
	)

static

Utility function for transforming inertia tensors between centroidal frames.

It converts an inertia matrix specified in a centroidal frame aligned with the vehicle reference frame to an inertia matrix expressed in a centroidal body reference frame.

Parameters

moments	moments of inertia in vehicle-aligned centroidal frame
products	products of inertia in vehicle-aligned centroidal frame
vehicle_rot	vehicle absolute orientation matrix
body_rot	body absolute orientation matrix

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

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

Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ChPart()

Member Function Documentation

◆ Create()

◆ ExportComponentList()

◆ SetContactFrictionCoefficient()

◆ SetContactMaterialCoefficients()

◆ SetContactMaterialProperties()

◆ SetContactRestitutionCoefficient()

◆ TransformInertiaMatrix()