Description

Base class for a steering subsystem.

#include <ChSteering.h>

Inheritance diagram for chrono::vehicle::ChSteering:

[legend]

Collaboration diagram for chrono::vehicle::ChSteering:

Public Member Functions
	ChSteering (const std::string &name)

const ChCoordsys &	GetPosition () const
	Get the position (location and orientation) of the steering subsystem relative to the chassis reference frame.

std::shared_ptr< ChBody >	GetSteeringLink () const
	Get a handle to the main link of the steering subsystems. More...

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation)=0
	Initialize this steering subsystem. More...

virtual void	Synchronize (double time, double steering)=0
	Update the state of this steering subsystem at the current time. More...

virtual double	GetMass () const =0
	Get the total mass of the steering subsystem.

virtual ChVector	GetCOMPos () const =0
	Get the current global COM location of the steering subsystem.

virtual 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.

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
ChCoordsys	m_position
	location and orientation relative to chassis

std::shared_ptr< ChBody >	m_link
	handle to the main steering link

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

◆ ChSteering()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ GetSteeringLink()

std::shared_ptr<ChBody> chrono::vehicle::ChSteering::GetSteeringLink ( ) const

inline

Get a handle to the main link of the steering subsystems.

Return a handle to the body to which the tierods of a steerable suspension subsystem are attached.

◆ Initialize()

virtual void chrono::vehicle::ChSteering::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location,
		const ChQuaternion<> &	rotation
	)

pure virtual

Initialize this steering subsystem.

The steering 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) and with specified orientation (with respect to the chassis reference frame).

Parameters

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

Implemented in chrono::vehicle::ChPitmanArmShafts, chrono::vehicle::ChPitmanArm, chrono::vehicle::ChRackPinion, and chrono::vehicle::ChRotaryArm.

◆ Synchronize()

virtual void chrono::vehicle::ChSteering::Synchronize	(	double	time,
		double	steering
	)

pure virtual

Update the state of this steering subsystem at the current time.

The steering subsystem is provided the current steering driver input (a value between -1 and +1). Positive steering input indicates steering to the left. This function is called during the vehicle update.

Parameters

[in]	time	current time
[in]	steering	current steering input [-1,+1]

Implemented in chrono::vehicle::ChPitmanArmShafts, chrono::vehicle::ChPitmanArm, chrono::vehicle::ChRackPinion, and chrono::vehicle::ChRotaryArm.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSteering.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSteering.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChSteering()

Member Function Documentation

◆ GetSteeringLink()

◆ Initialize()

◆ Synchronize()