chrono::vehicle::ChRoadWheel Class Reference

Description

Base class for a road wheel subsystem.

#include <ChRoadWheel.h>

Inheritance diagram for chrono::vehicle::ChRoadWheel:

Collaboration diagram for chrono::vehicle::ChRoadWheel:

Public Member Functions
	ChRoadWheel (const std::string &name)
virtual GuidePinType	GetType () const =0
	Return the type of track shoe consistent with this road wheel.
std::shared_ptr< ChBody >	GetWheelBody () const
	Get a handle to the road wheel body.
std::shared_ptr< ChLinkLockRevolute >	GetRevolute () const
	Get a handle to the revolute joint.
virtual double	GetWheelMass () const =0
	Return the mass of the road wheel body.
virtual const ChVector &	GetWheelInertia ()=0
	Return the moments of inertia of the road wheel body.
virtual double	GetWheelRadius () const =0
	Get the radius of the road wheel.
void	SetCollide (bool val)
	Turn on/off collision flag for the road wheel.
virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, std::shared_ptr< ChBody > carrier, const ChVector<> &location)
	Initialize this road wheel subsystem. More...
void	LogConstraintViolations ()
	Log current constraint violations.
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.

Protected Member Functions
virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...
virtual void	Output (ChVehicleOutput &database) const override
	Output data for this subsystem's component list to the specified database.
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_wheel
	handle to the road wheel body
std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to wheel revolute joint
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

Friends
class	ChTrackAssembly
class	ChRoadWheelAssembly

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

ChRoadWheel()

chrono::vehicle::ChRoadWheel::ChRoadWheel

(

const std::string &

name

)

Parameters

[in]

name

name of the subsystem

Member Function Documentation

ExportComponentList()

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

overrideprotectedvirtual

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 from chrono::vehicle::ChPart.

Initialize()

void chrono::vehicle::ChRoadWheel::Initialize ( std::shared_ptr< ChBodyAuxRef >  chassis, std::shared_ptr< ChBody >  carrier, const ChVector<> &  location  )

virtual

Initialize this road wheel subsystem.

The road wheel subsystem is initialized by attaching it to the specified carrier body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the road wheel subsystem reference frame is always aligned with the chassis reference frame. A derived road wheel subsystem template class must extend this default implementation and specify contact geometry for the road wheel.

Parameters

[in]	chassis	handle to the chassis body
[in]	carrier	handle to the carrier body
[in]	location	location relative to the chassis frame

Reimplemented in chrono::vehicle::ChDoubleRoadWheel, and chrono::vehicle::ChSingleRoadWheel.

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

• /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChRoadWheel.h
• /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChRoadWheel.cpp