chrono::vehicle::m113::M113_Suspension Class Reference
Description
Linear-damper M113 suspension (road-wheel assembly).
#include <M113_Suspension.h>
Inheritance diagram for chrono::vehicle::m113::M113_Suspension:
Collaboration diagram for chrono::vehicle::m113::M113_Suspension:
Public Member Functions | |
| M113_Suspension (const std::string &name, VehicleSide side, int index, bool has_shock) | |
| virtual const ChVector | GetLocation (PointId which) override |
| Return the location of the specified hardpoint. More... | |
| virtual double | GetArmMass () const override |
| Return the mass of the arm body. | |
| virtual const ChVector & | GetArmInertia () const override |
| Return the moments of inertia of the arm body. | |
| virtual double | GetArmVisRadius () const override |
| Return a visualization radius for the arm body. | |
| virtual ChLinkRotSpringCB::TorqueFunctor * | GetSpringTorqueFunctor () const override |
| Return the functor object for the torsional spring torque. | |
| virtual ChLinkTSDA::ForceFunctor * | GetShockForceFunctor () const override |
| Return the functor object for the translational shock force. | |
 Public Member Functions inherited from chrono::vehicle::ChLinearDamperRWAssembly | |
| ChLinearDamperRWAssembly (const std::string &name, bool has_shock=true) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual std::shared_ptr< ChBody > | GetCarrierBody () const override |
| Get a handle to the carrier body. | |
| virtual double | GetCarrierAngle () const override |
| Return the current pitch angle of the carrier body. More... | |
| std::shared_ptr< ChLinkLockRevolute > | GetArmRevolute () const |
| Get a handle to the revolute joint of the arm. | |
| virtual double | GetMass () const override |
| Get the total mass of the road-wheel assembly. More... | |
| virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override |
| Initialize this suspension subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the suspension subsystem. | |
| virtual void | RemoveVisualizationAssets () override final |
| Remove visualization assets for the suspension subsystem. | |
| void | LogConstraintViolations () override |
| Log current constraint violations. | |
| Public Member Functions inherited from chrono::vehicle::ChRoadWheelAssembly | |
| ChRoadWheelAssembly (const std::string &name, bool has_shock) | |
| GuidePinType | GetType () const |
| Return the type of track shoe consistent with this road wheel. | |
| std::shared_ptr< ChRoadWheel > | GetRoadWheel () const |
| Return a handle to the road wheel subsystem. | |
| std::shared_ptr< ChBody > | GetWheelBody () const |
| Get a handle to the road wheel body. | |
| std::shared_ptr< ChLinkLockRevolute > | GetWheelRevolute () const |
| Get a handle to the revolute joint of the road-wheel. | |
| double | GetWheelRadius () const |
| Get the radius of the road wheel. | |
| virtual void | SetOutput (bool state) override |
| Enable/disable output for this 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. | |
| 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::ChLinearDamperRWAssembly | |
| enum | PointId { ARM, ARM_WHEEL, ARM_CHASSIS, SHOCK_A, SHOCK_C, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChLinearDamperRWAssembly | |
| 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. | |
| Protected Attributes inherited from chrono::vehicle::ChLinearDamperRWAssembly | |
| std::shared_ptr< ChBody > | m_arm |
| handle to the trailing arm body | |
| std::shared_ptr< ChLinkLockRevolute > | m_revolute |
| handle to the revolute joint arm-chassis | |
| std::shared_ptr< ChLinkRotSpringCB > | m_spring |
| handle to the rotational spring link | |
| std::shared_ptr< ChLinkTSDA > | m_shock |
| handle to the translational shock link | |
| Protected Attributes inherited from chrono::vehicle::ChRoadWheelAssembly | |
| GuidePinType | m_type |
| type of the track shoe matching this road wheel | |
| bool | m_has_shock |
| specifies whether or not the suspension has a damper | |
| std::shared_ptr< ChRoadWheel > | m_road_wheel |
| road-wheel subsystem | |
| 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
◆ GetLocation()
Return the location of the specified hardpoint.
The returned location must be expressed in the idler subsystem reference frame.
Implements chrono::vehicle::ChLinearDamperRWAssembly.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_Suspension.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_Suspension.cpp
