chrono::vehicle::PitmanArm Class Reference
Description
Pitman arm steering model constructed with data from file (JSON format).
#include <PitmanArm.h>
Inheritance diagram for chrono::vehicle::PitmanArm:
Collaboration diagram for chrono::vehicle::PitmanArm:
Public Member Functions | |
| PitmanArm (const std::string &filename) | |
| PitmanArm (const rapidjson::Document &d) | |
| virtual double | getSteeringLinkMass () const override |
| Return the mass of the steering link body. | |
| virtual double | getPitmanArmMass () const override |
| Return the mass of the Pitman arm body. | |
| virtual double | getSteeringLinkRadius () const override |
| Return the radius of the steering link body (visualization only). | |
| virtual double | getPitmanArmRadius () const override |
| Return the radius of the Pitman arm body (visualization only). | |
| virtual const ChVector & | getSteeringLinkInertiaMoments () const override |
| Return the moments of inertia of the steering link body. | |
| virtual const ChVector & | getSteeringLinkInertiaProducts () const override |
| Return the products of inertia of the steering link body. | |
| virtual const ChVector & | getPitmanArmInertiaMoments () const override |
| Return the moments of inertia of the Pitman arm body. | |
| virtual const ChVector & | getPitmanArmInertiaProducts () const override |
| Return the products of inertia of the Pitman arm body. | |
| virtual double | getMaxAngle () const override |
| Return the maximum rotation angle of the revolute joint. | |
| virtual const ChVector | getLocation (PointId which) override |
| Return the location of the specified hardpoint. More... | |
| virtual const ChVector | getDirection (DirectionId which) override |
| Return the unit vector for the specified direction. More... | |
 Public Member Functions inherited from chrono::vehicle::ChPitmanArm | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override |
| Initialize this steering subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the steering subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the steering subsystem. | |
| virtual void | Synchronize (double time, double steering) override |
| Update the state of this steering subsystem at the current time. More... | |
| virtual double | GetMass () const override |
| Get the total mass of the steering subsystem. | |
| virtual ChVector | GetCOMPos () const override |
| Get the current global COM location of the steering subsystem. | |
| virtual void | LogConstraintViolations () override |
| Log current constraint violations. | |
| Public Member Functions inherited from chrono::vehicle::ChSteering | |
| 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... | |
| 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. | |
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 Types inherited from chrono::vehicle::ChPitmanArm | |
| enum | PointId { STEERINGLINK, PITMANARM, REV, UNIV, REVSPH_R, REVSPH_S, TIEROD_PA, TIEROD_IA, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| enum | DirectionId { REV_AXIS, UNIV_AXIS_ARM, UNIV_AXIS_LINK, REVSPH_AXIS, NUM_DIRS } |
| Identifiers for the various direction unit vectors. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChPitmanArm | |
| ChPitmanArm (const std::string &name, bool vehicle_frame_inertia=false) | |
| Protected constructor. More... | |
| void | SetVehicleFrameInertiaFlag (bool val) |
| Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). 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. | |
| Protected Attributes inherited from chrono::vehicle::ChPitmanArm | |
| std::shared_ptr< ChBody > | m_arm |
| handle to the Pitman arm body | |
| std::shared_ptr< ChLinkMotorRotationAngle > | m_revolute |
| handle to the chassis-arm revolute joint | |
| std::shared_ptr< ChLinkRevoluteSpherical > | m_revsph |
| handle to the revolute-spherical joint (idler arm) | |
| std::shared_ptr< ChLinkUniversal > | m_universal |
| handle to the arm-link universal joint | |
| Protected Attributes inherited from chrono::vehicle::ChSteering | |
| 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 | |
Member Function Documentation
◆ getDirection()
|
inlineoverridevirtual |
Return the unit vector for the specified direction.
The returned vector must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChPitmanArm.
◆ getLocation()
|
inlineoverridevirtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChPitmanArm.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/PitmanArm.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/PitmanArm.cpp
