chrono::vehicle::ChWheel Class Referenceabstract
Description
Base class for a vehicle wheel subsystem.
A wheel subsystem does not own a body. Instead, when attached to a suspension subsystem, the wheel's mass properties are used to update those of the spindle body owned by the suspension. A concrete wheel subsystem can optionally carry its own visualization assets (which are associated with the suspension's spindle body).
#include <ChWheel.h>
Inheritance diagram for chrono::vehicle::ChWheel:
Collaboration diagram for chrono::vehicle::ChWheel:
Public Member Functions | |
| ChWheel (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual double | GetMass () const =0 |
| Get the wheel mass. | |
| virtual ChVector | GetInertia () const =0 |
| Get the wheel moments of inertia. | |
| virtual double | GetRadius () const |
| Get the wheel radius (for visualization only). | |
| virtual double | GetWidth () const |
| Get the wheel width (for visualization only). | |
| virtual void | Initialize (std::shared_ptr< ChBody > spindle, VehicleSide side, double offset=0) |
| Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem. More... | |
| void | Synchronize () |
| Synchronize the wheel subsystem. More... | |
| std::shared_ptr< ChTire > | GetTire () const |
| Get the tire attached to this wheel. | |
| void | SetTire (std::shared_ptr< ChTire > tire) |
| Associate the given tire with this wheel. | |
| std::shared_ptr< ChBody > | GetSpindle () const |
| Get the associated spindle body. | |
| VehicleSide | GetSide () const |
| Get the vehicle side on which this wheel is mounted. | |
| ChVector | GetPos () const |
| Get wheel position (expressed in absolute frame). | |
| WheelState | GetState () const |
| Get the current state for this wheel. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the wheel subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the wheel subsystem. | |
 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. | |
| 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< ChBody > | m_spindle |
| associated suspension spindle body | |
| std::shared_ptr< ChTire > | m_tire |
| attached tire subsystem | |
| VehicleSide | m_side |
| wheel mounted on left/right side | |
| double | m_offset |
| offset from spindle center | |
| std::shared_ptr< ChCylinderShape > | m_cyl_shape |
| visualization cylinder asset | |
| 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 | ChTire |
| class | ChWheeledVehicle |
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
◆ ChWheel()
| chrono::vehicle::ChWheel::ChWheel | ( | const std::string & | name | ) |
- Parameters
-
[in] name name of the subsystem
Member Function Documentation
◆ AddVisualizationAssets()
|
overridevirtual |
Add visualization assets for the wheel subsystem.
This default implementation uses primitives.
Reimplemented from chrono::vehicle::ChPart.
Reimplemented in chrono::vehicle::Wheel, chrono::vehicle::citybus::CityBus_Wheel, chrono::vehicle::hmmwv::HMMWV_Wheel, chrono::vehicle::man::MAN_5t_Wheel, chrono::vehicle::sedan::Sedan_Wheel, and chrono::vehicle::uaz::UAZBUS_Wheel.
◆ GetState()
| WheelState chrono::vehicle::ChWheel::GetState | ( | ) | const |
Get the current state for this wheel.
This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame, as well as the wheel angular speed about its rotation axis.
◆ Initialize()
|
virtual |
Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem.
The optional 'offset' argument allows models with double wheels(tires). The default value offset=0 corresponds to an axle with a single tire. A positive offset corresponds to an "outer" wheel, while a negative offset corresponds to an "inner" wheel. The wheel mass and inertia are used to increment those of the associated spindle body.
- Parameters
-
spindle associated suspension spindle body side wheel mounted on left/right side offset offset from associated spindle center
◆ Synchronize()
| void chrono::vehicle::ChWheel::Synchronize | ( | ) |
Synchronize the wheel subsystem.
This queries the forces from the attached tire and passes it to the associated suspension.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChWheel.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChWheel.cpp
