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()
|
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
