Description

Base class for a torsion-bar suspension system using a rotational damper (template definition).

#include <ChRotationalDamperRWAssembly.h>

Inheritance diagram for chrono::vehicle::ChRotationalDamperRWAssembly:

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Collaboration diagram for chrono::vehicle::ChRotationalDamperRWAssembly:

Public Member Functions
	ChRotationalDamperRWAssembly (const std::string &name, bool has_shock=true)

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

virtual std::shared_ptr< ChBody >	GetCarrierBody () const override
	Get a handle to the carrier body.

virtual double	GetCarrierAngle () const override
	Return the current pitch angle of the carrier body. More...

std::shared_ptr< ChLinkLockRevolute >	GetArmRevolute () const
	Get a handle to the revolute joint of the arm.

virtual double	GetMass () const override
	Get the total mass of the roadwheel assembly. More...

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override
	Initialize this suspension subsystem. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the suspension subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the suspension subsystem.

void	LogConstraintViolations () override
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChRoadWheelAssembly
	ChRoadWheelAssembly (const std::string &name, bool has_shock)

GuidePinType	GetType () const
	Return the type of track shoe consistent with this road wheel.

std::shared_ptr< ChRoadWheel >	GetRoadWheel () const
	Return a handle to the road wheel subsystem.

std::shared_ptr< ChBody >	GetWheelBody () const
	Get a handle to the road wheel body.

std::shared_ptr< ChLinkLockRevolute >	GetWheelRevolute () const
	Get a handle to the revolute joint of the road-wheel.

double	GetWheelRadius () const
	Get the radius of the road wheel.

virtual void	SetOutput (bool state) override
	Enable/disable output for this 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.

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for 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.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Types
enum	PointId { ARM, ARM_WHEEL, ARM_CHASSIS, NUM_POINTS }
	Identifiers for the various hardpoints. More...

Protected Member Functions
virtual const ChVector	GetLocation (PointId which)=0
	Return the location of the specified hardpoint. More...

virtual double	GetArmMass () const =0
	Return the mass of the arm body.

virtual const ChVector &	GetArmInertia () const =0
	Return the moments of inertia of the arm body.

virtual double	GetArmVisRadius () const =0
	Return a visualization radius for the arm body.

virtual ChLinkRotSpringCB::TorqueFunctor *	GetSpringTorqueFunctor () const =0
	Return the functor object for the torsional spring torque.

virtual ChLinkRotSpringCB::TorqueFunctor *	GetShockTorqueCallback () const =0
	Return the functor object for the rotational shock force.

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_arm
	handle to the trailing arm body

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to the revolute joint arm-chassis

std::shared_ptr< ChLinkRotSpringCB >	m_spring
	handle to the rotational spring link

std::shared_ptr< ChLinkRotSpringCB >	m_shock
	handle to the rotational shock link

Protected Attributes inherited from chrono::vehicle::ChRoadWheelAssembly
GuidePinType	m_type
	type of the track shoe matching this road wheel

bool	m_has_shock
	specifies whether or not the suspension has a damper

std::shared_ptr< ChRoadWheel >	m_road_wheel
	road-wheel subsystem

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.

Member Enumeration Documentation

◆ PointId

enum chrono::vehicle::ChRotationalDamperRWAssembly::PointId

protected

Identifiers for the various hardpoints.

Enumerator
ARM	arm location
ARM_WHEEL	arm, connection point to road wheel
ARM_CHASSIS	arm, connection point to chassis

Constructor & Destructor Documentation

◆ ChRotationalDamperRWAssembly()

chrono::vehicle::ChRotationalDamperRWAssembly::ChRotationalDamperRWAssembly	(	const std::string &	name,
		bool	has_shock = `true`
	)

Parameters

[in]	name	name of the subsystem
[in]	has_shock	specify whether or not the suspension has a damper

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChRotationalDamperRWAssembly::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::ChRoadWheelAssembly.

◆ GetCarrierAngle()

double chrono::vehicle::ChRotationalDamperRWAssembly::GetCarrierAngle ( ) const

overridevirtual

Return the current pitch angle of the carrier body.

This angle is measured in the x-z transversal plane, from the initial configuration, and follows the right-hand rule.

Implements chrono::vehicle::ChRoadWheelAssembly.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChRotationalDamperRWAssembly::GetLocation ( PointId which )

protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

◆ GetMass()

double chrono::vehicle::ChRotationalDamperRWAssembly::GetMass ( ) const

overridevirtual

Get the total mass of the roadwheel assembly.

This includes the mass of the roadwheel and of the suspension mechanism.

Implements chrono::vehicle::ChRoadWheelAssembly.

◆ Initialize()

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

overridevirtual

Initialize this suspension subsystem.

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 centered at the location of the road wheel and aligned with the chassis reference frame.

Parameters

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

Reimplemented from chrono::vehicle::ChRoadWheelAssembly.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChRotationalDamperRWAssembly.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChRotationalDamperRWAssembly.cpp

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ PointId

Constructor & Destructor Documentation

◆ ChRotationalDamperRWAssembly()

Member Function Documentation

◆ ExportComponentList()

◆ GetCarrierAngle()

◆ GetLocation()

◆ GetMass()

◆ Initialize()