chrono::vehicle::citybus::CityBus_Chassis Class Reference
Description
CityBus chassis subsystem.
#include <CityBus_Chassis.h>
Inheritance diagram for chrono::vehicle::citybus::CityBus_Chassis:
Collaboration diagram for chrono::vehicle::citybus::CityBus_Chassis:
Public Member Functions | |
CityBus_Chassis (const std::string &name, bool fixed=false, ChassisCollisionType chassis_collision_type=ChassisCollisionType::NONE) | |
virtual double | GetMass () const override |
Return the mass of the chassis body. | |
virtual const ChMatrix33 & | GetInertia () const override |
Return the inertia tensor of the chassis body. | |
virtual const ChVector & | GetLocalPosCOM () const override |
Get the location of the center of mass in the chassis frame. | |
virtual ChCoordsys | GetLocalDriverCoordsys () const override |
Get the local driver position and orientation. More... | |
Public Member Functions inherited from chrono::vehicle::ChRigidChassis | |
ChRigidChassis (const std::string &name, bool fixed=false) | |
Construct a vehicle subsystem with the specified name. More... | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
bool | HasCollision () const |
Specifies whether or not collision shapes were defined. | |
bool | HasPrimitives () const |
Specifies whether or not visualization primitives were defined. | |
bool | HasMesh () const |
Specifies whether or not a visualization mesh was defined. | |
const std::string & | GetMeshFilename () const |
Get the name of the Wavefront file with chassis visualization mesh. More... | |
virtual void | SetCollide (bool state) override |
Enable/disable contact for the chassis. More... | |
virtual void | Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0) override |
Initialize the chassis at the specified global position and orientation. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets to this subsystem, for the specified visualization mode. | |
virtual void | RemoveVisualizationAssets () override final |
Remove all visualization assets from this subsystem. | |
Public Member Functions inherited from chrono::vehicle::ChChassis | |
ChChassis (const std::string &name, bool fixed=false) | |
Construct a vehicle subsystem with the specified name. More... | |
std::shared_ptr< ChBodyAuxRef > | GetBody () const |
Get a handle to the vehicle's chassis body. | |
const ChVector & | GetPos () const |
Get the global location of the chassis reference frame origin. | |
const ChQuaternion & | GetRot () const |
Get the orientation of the chassis reference frame. More... | |
const ChVector & | GetCOMPos () const |
Get the global location of the chassis center of mass. | |
const ChQuaternion & | GetCOMRot () const |
Get the orientation of the chassis centroidal frame. More... | |
ChVector | GetDriverPos () const |
Get the global location of the driver. | |
double | GetSpeed () const |
Get the vehicle speed. More... | |
double | GetCOMSpeed () const |
Get the speed of the chassis COM. More... | |
ChVector | GetPointLocation (const ChVector<> &locpos) const |
Get the global position of the specified point. More... | |
ChVector | GetPointVelocity (const ChVector<> &locpos) const |
Get the global velocity of the specified point. More... | |
ChVector | GetPointAcceleration (const ChVector<> &locpos) const |
Get the acceleration at the specified point. More... | |
void | SetFixed (bool val) |
Set the "fixed to ground" status of the chassis body. | |
bool | IsFixed () const |
Return true if the chassis body is fixed to ground. | |
void | AddMarker (const std::string &name, const ChCoordsys<> &pos) |
Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More... | |
const std::vector< std::shared_ptr< ChMarker > > & | GetMarkers () const |
void | SetAerodynamicDrag (double Cd, double area, double air_density) |
Set parameters and enable aerodynamic drag force calculation. More... | |
virtual void | Synchronize (double time) |
Update the state of the chassis subsystem. 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. | |
Protected Attributes | |
ChMatrix33 | m_inertia |
Protected Attributes inherited from chrono::vehicle::ChRigidChassis | |
bool | m_has_collision |
std::vector< BoxShape > | m_coll_boxes |
std::vector< SphereShape > | m_coll_spheres |
std::vector< CylinderShape > | m_coll_cylinders |
std::vector< std::string > | m_coll_mesh_names |
bool | m_has_primitives |
std::vector< BoxShape > | m_vis_boxes |
std::vector< SphereShape > | m_vis_spheres |
std::vector< CylinderShape > | m_vis_cylinders |
bool | m_has_mesh |
std::string | m_vis_mesh_file |
Protected Attributes inherited from chrono::vehicle::ChChassis | |
std::shared_ptr< ChBodyAuxRef > | m_body |
handle to the chassis body | |
std::vector< std::shared_ptr< ChMarker > > | m_markers |
list of user-defined markers | |
bool | m_fixed |
is the chassis body fixed to ground? | |
bool | m_apply_drag |
enable aerodynamic drag force? | |
double | m_Cd |
drag coefficient | |
double | m_area |
reference area (m2) | |
double | m_air_density |
air density (kg/m3) | |
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 | |
Static Protected Attributes | |
static const double | m_mass = 13000 |
static const ChVector | m_inertiaXX |
static const ChVector | m_inertiaXY |
static const ChVector | m_COM_loc |
static const ChCoordsys | m_driverCsys |
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::ChRigidChassis | |
virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
Export this subsystem's component list to the specified JSON object. More... | |
virtual void | Output (ChVehicleOutput &database) const override |
Output data for this subsystem's component list to the specified database. | |
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. | |
Member Function Documentation
◆ GetLocalDriverCoordsys()
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inlineoverridevirtual |
Get the local driver position and orientation.
This is a coordinate system relative to the chassis reference frame.
Implements chrono::vehicle::ChChassis.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/citybus/CityBus_Chassis.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/citybus/CityBus_Chassis.cpp