chrono::vehicle::SCMDeformableTerrain::SoilParametersCallback Class Referenceabstract


Class to be used as a callback interface for location-dependent soil parameters.

A derived class must implement Set() and set all soil parameters (no defaults are provided).

#include <SCMDeformableTerrain.h>

Public Member Functions

virtual void Set (double x, double y)=0
 Set the soil properties at a given (x,y) location. More...

Public Attributes

double m_Bekker_Kphi
 Kphi, frictional modulus in Bekker model.
double m_Bekker_Kc
 Kc, cohesive modulus in Bekker model.
double m_Bekker_n
 n, exponent of sinkage in Bekker model (usually 0.6...1.8)
double m_Mohr_cohesion
 Cohesion in, Pa, for shear failure.
double m_Mohr_friction
 Friction angle (in degrees!), for shear failure.
double m_Janosi_shear
 J , shear parameter, in meters, in Janosi-Hanamoto formula (usually few mm or cm)
double m_elastic_K
 elastic stiffness K, per unit area, [Pa/m] (must be larger than Kphi)
double m_damping_R
 vertical damping R, per unit area [Pa s/m] (proportional to vertical speed)

Member Function Documentation

◆ Set()

virtual void chrono::vehicle::SCMDeformableTerrain::SoilParametersCallback::Set ( double  x,
double  y 
pure virtual

Set the soil properties at a given (x,y) location.

Attention: the location is assumed to be provided in the (x,y) plane of the patch reference plane! An implementation of this method in a derived class must set all soil parameters.

The documentation for this class was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono_vehicle/terrain/SCMDeformableTerrain.h