chrono::vehicle::ThreeLinkIRS Class Reference
Description
Three-link Independent Rear Suspension constructed with data from file.
#include <ThreeLinkIRS.h>
Inheritance diagram for chrono::vehicle::ThreeLinkIRS:
Collaboration diagram for chrono::vehicle::ThreeLinkIRS:
Public Member Functions | |
| ThreeLinkIRS (const std::string &filename) | |
| ThreeLinkIRS (const rapidjson::Document &d) | |
| virtual double | getSpindleMass () const override |
| Return the mass of the spindle body. | |
| virtual double | getArmMass () const override |
| Return the mass of the trailing arm body. | |
| virtual double | getUpperLinkMass () const override |
| Return the mass of the upper link. | |
| virtual double | getLowerLinkMass () const override |
| Return the mass of the lower link. | |
| virtual double | getSpindleRadius () const override |
| Return the radius of the spindle body (visualization only). | |
| virtual double | getSpindleWidth () const override |
| Return the width of the spindle body (visualization only). | |
| virtual double | getArmRadius () const override |
| Return the radius of the trailing arm body (visualization only). | |
| virtual double | getUpperLinkRadius () const override |
| Return the radius of the upper link body (visualization only). | |
| virtual double | getLowerLinkRadius () const override |
| Return the radius of the lower link body (visualization only). | |
| virtual const ChVector & | getSpindleInertia () const override |
| Return the moments of inertia of the spindle body. | |
| virtual const ChVector & | getArmInertia () const override |
| Return the moments of inertia of the trailing arm body. More... | |
| virtual const ChVector & | getUpperLinkInertia () const override |
| Return the moments of inertia of the upper link. More... | |
| virtual const ChVector & | getLowerLinkInertia () const override |
| Return the moments of inertia of the lower link. More... | |
| virtual double | getAxleInertia () const override |
| Return the inertia of the axle shaft. | |
| virtual double | getSpringRestLength () const override |
| Return the free (rest) length of the spring element. | |
| virtual ChLinkTSDA::ForceFunctor * | getSpringForceFunctor () const override |
| Return the functor object for spring force. | |
| virtual ChLinkTSDA::ForceFunctor * | getShockForceFunctor () const override |
| Return the functor object for shock force. | |
 Public Member Functions inherited from chrono::vehicle::ChThreeLinkIRS | |
| ChThreeLinkIRS (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual bool | IsSteerable () const final override |
| Specify whether or not this suspension can be steered. | |
| virtual bool | IsIndependent () const final override |
| Specify whether or not this is an independent suspension. | |
| virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, std::shared_ptr< ChBody > tierod_body, int steering_index, double left_ang_vel=0, double right_ang_vel=0) override |
| Initialize this suspension subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the suspension subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the suspension subsystem. | |
| virtual double | GetMass () const override |
| Get the total mass of the suspension subsystem. | |
| virtual ChVector | GetCOMPos () const override |
| Get the current global COM location of the suspension subsystem. | |
| virtual double | GetTrack () override |
| Get the wheel track for the suspension subsystem. | |
| std::shared_ptr< ChLinkTSDA > | GetSpring (VehicleSide side) const |
| Get a handle to the specified spring element. | |
| std::shared_ptr< ChLinkTSDA > | GetShock (VehicleSide side) const |
| Get a handle to the specified shock (damper) element. | |
| virtual ChSuspension::Force | ReportSuspensionForce (VehicleSide side) const override |
| Return current suspension forces (spring and shock) on the specified side. | |
| double | GetSpringForce (VehicleSide side) const |
| Get the force in the spring element. | |
| double | GetSpringLength (VehicleSide side) const |
| Get the current length of the spring element. | |
| double | GetSpringDeformation (VehicleSide side) const |
| Get the current deformation of the spring element. | |
| double | GetShockForce (VehicleSide side) const |
| Get the force in the shock (damper) element. | |
| double | GetShockLength (VehicleSide side) const |
| Get the current length of the shock (damper) element. | |
| double | GetShockVelocity (VehicleSide side) const |
| Get the current deformation velocity of the shock (damper) element. | |
| virtual void | LogConstraintViolations (VehicleSide side) override |
| Log current constraint violations. | |
| virtual std::shared_ptr< ChBody > | GetLeftBody () const override |
| Specify the left body for a possible antirollbar subsystem. More... | |
| virtual std::shared_ptr< ChBody > | GetRightBody () const override |
| Specify the right body for a possible antirollbar subsystem. More... | |
| void | LogHardpointLocations (const ChVector<> &ref, bool inches=false) |
| Log the locations of all hardpoints. More... | |
| Public Member Functions inherited from chrono::vehicle::ChSuspension | |
| ChSuspension (const std::string &name) | |
| const ChVector & | GetLocation () const |
| Get the location of the suspension subsystem relative to the chassis reference frame. More... | |
| std::shared_ptr< ChBody > | GetSpindle (VehicleSide side) const |
| Get a handle to the spindle body on the specified side. | |
| std::shared_ptr< ChShaft > | GetAxle (VehicleSide side) const |
| Get a handle to the axle shaft on the specified side. | |
| std::shared_ptr< ChLinkLockRevolute > | GetRevolute (VehicleSide side) const |
| Get a handle to the revolute joint on the specified side. | |
| const ChVector & | GetSpindlePos (VehicleSide side) const |
| Get the global location of the spindle on the specified side. | |
| const ChQuaternion & | GetSpindleRot (VehicleSide side) const |
| Get the orientation of the spindle body on the specified side. More... | |
| const ChVector & | GetSpindleLinVel (VehicleSide side) const |
| Get the linear velocity of the spindle body on the specified side. More... | |
| ChVector | GetSpindleAngVel (VehicleSide side) const |
| Get the angular velocity of the spindle body on the specified side. More... | |
| double | GetAxleSpeed (VehicleSide side) const |
| Get the angular speed of the axle on the specified side. | |
| int | GetSteeringIndex () const |
| Get the index of the associated steering index (-1 if non-steered). | |
| void | Synchronize () |
| Synchronize this suspension subsystem. More... | |
| void | ApplyAxleTorque (VehicleSide side, double torque) |
| Apply the provided motor torque. 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::ChThreeLinkIRS | |
| enum | PointId { SPINDLE, TA_CM, UL_CM, LL_CM, TA_C, TA_S, UL_C, UL_A, LL_C, LL_A, SHOCK_C, SHOCK_A, SPRING_C, SPRING_A, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| enum | DirectionId { UNIV_AXIS_UPPER, UNIV_AXIS_LOWER, NUM_DIRS } |
| Identifiers for various joint directions. 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::ChThreeLinkIRS | |
| std::shared_ptr< ChBody > | m_arm [2] |
| handles to the trailing arm bodies (left/right) | |
| std::shared_ptr< ChBody > | m_upper [2] |
| handles to the upper links (left/right) | |
| std::shared_ptr< ChBody > | m_lower [2] |
| handles to the lower links (left/right) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalArm [2] |
| chassis-arm spherical joints (left/right) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalUpper [2] |
| upper-arm spherical joints (left/right) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalLower [2] |
| lower-arm spherical joints (left/right) | |
| std::shared_ptr< ChLinkUniversal > | m_universalUpper [2] |
| upper-chassis universal joints (left/right) | |
| std::shared_ptr< ChLinkUniversal > | m_universalLower [2] |
| lower-chassis universal joints (left/right) | |
| std::shared_ptr< ChLinkTSDA > | m_shock [2] |
| handles to the spring links (left/right) | |
| std::shared_ptr< ChLinkTSDA > | m_spring [2] |
| handles to the shock links (left/right) | |
| Protected Attributes inherited from chrono::vehicle::ChSuspension | |
| ChVector | m_location |
| location relative to chassis | |
| int | m_steering_index |
| index of associated steering mechanism | |
| std::shared_ptr< ChBody > | m_spindle [2] |
| handles to spindle bodies | |
| std::shared_ptr< ChShaft > | m_axle [2] |
| handles to axle shafts | |
| std::shared_ptr< ChShaftsBody > | m_axle_to_spindle [2] |
| handles to spindle-shaft connectors | |
| std::shared_ptr< ChLinkLockRevolute > | m_revolute [2] |
| handles to spindle revolute joints | |
| 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
◆ getArmInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the trailing arm body.
The x direction is aligned with the arm.
Implements chrono::vehicle::ChThreeLinkIRS.
◆ getLowerLinkInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the lower link.
The x direction is aligned with the link.
Implements chrono::vehicle::ChThreeLinkIRS.
◆ getUpperLinkInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the upper link.
The x direction is aligned with the link.
Implements chrono::vehicle::ChThreeLinkIRS.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ThreeLinkIRS.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ThreeLinkIRS.cpp
