chrono::vehicle::uaz::UAZBUS_RigidTire Class Reference
Description
Rigid tire model for the UAZBUS vehicle.
#include <UAZBUS_RigidTire.h>
Inheritance diagram for chrono::vehicle::uaz::UAZBUS_RigidTire:
Collaboration diagram for chrono::vehicle::uaz::UAZBUS_RigidTire:
Public Member Functions | |
UAZBUS_RigidTire (const std::string &name, bool use_mesh=false) | |
virtual double | GetRadius () const override |
Get the tire radius. | |
virtual double | GetWidth () const override |
Get the tire width. | |
virtual double | GetMass () const override |
Get the tire mass. More... | |
virtual ChVector | GetInertia () const override |
Get the tire moments of inertia. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the rigid tire subsystem. | |
virtual void | RemoveVisualizationAssets () override final |
Remove visualization assets for the rigid tire subsystem. | |
Public Member Functions inherited from chrono::vehicle::ChRigidTire | |
ChRigidTire (const std::string &name) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
void | SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0) |
Set Wavefront OBJ file for contact mesh. More... | |
bool | UseContactMesh () const |
Check whether or not this tire uses a contact mesh. | |
virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
Report the tire force and moment. More... | |
unsigned int | GetNumVertices () const |
Return the number of vertices in the contact mesh. | |
unsigned int | GetNumTriangles () const |
Return the number of faces in the contact mesh. | |
const std::vector< ChVector< int > > & | GetMeshConnectivity () const |
Get the contact mesh connectivity. | |
const std::vector< ChVector<> > & | GetMeshVertices () const |
Get the contact mesh vertices (in local frame). | |
const std::vector< ChVector<> > & | GetMeshNormals () const |
Get the contact mesh vertex normals (in local frame). | |
void | GetMeshVertexStates (std::vector< ChVector<>> &pos, std::vector< ChVector<>> &vel) const |
Get the current state of the collision mesh. More... | |
Public Member Functions inherited from chrono::vehicle::ChTire | |
ChTire (const std::string &name) | |
void | SetStepsize (double val) |
Set the value of the integration step size for the underlying dynamics (if applicable). More... | |
double | GetStepsize () const |
Get the current value of the integration step size. | |
void | SetCollisionType (CollisionType collision_type) |
Set the collision type for tire-terrain interaction. More... | |
virtual double | ReportMass () const |
Report the tire mass. More... | |
double | GetSlipAngle () const |
Return the tire slip angle calculated based on the current state of the associated wheel body. More... | |
double | GetLongitudinalSlip () const |
Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More... | |
double | GetCamberAngle () const |
Return the tire camber angle calculated based on the current state of the associated wheel body. More... | |
virtual double | GetDeflection () const |
Report the tire deflection. | |
virtual void | Synchronize (double time, const ChTerrain &terrain) |
Update the state of this tire system at the current time. More... | |
virtual void | Advance (double step) |
Advance the state of this tire by the specified time step. | |
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. | |
virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
Export this subsystem's component list to the specified JSON object. More... | |
virtual void | Output (ChVehicleOutput &database) const |
Output data for this subsystem's component list to the specified database. | |
Additional Inherited Members | |
Public Types inherited from chrono::vehicle::ChTire | |
enum | CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE } |
Static Public Member Functions inherited from chrono::vehicle::ChTire | |
static ChVector | EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2) |
Utility function for estimating the tire moments of inertia. More... | |
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::ChTire | |
void | CalculateKinematics (double time, const WheelState &wheel_state, const ChTerrain &terrain) |
Calculate kinematics quantities based on the given state of the associated wheel body. More... | |
double | GetOffset () const |
Get offset from spindle center. More... | |
std::shared_ptr< ChTriangleMeshShape > | AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right) |
Add mesh visualization to the body associated with this tire (a wheel spindle body). More... | |
void | RemoveVisualizationMesh (std::shared_ptr< ChTriangleMeshShape > trimesh_shape) |
Remove the specified mesh shape from the visualization assets of the body associated with this tire (a wheel spindle body). | |
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::ChTire | |
static bool | DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth) |
Perform disc-terrain collision detection. More... | |
static bool | DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle) |
Perform disc-terrain collision detection considering the curvature of the road surface. More... | |
static bool | DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth) |
Collsion algorithm based on a paper of J. More... | |
static void | ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep) |
Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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::ChTire | |
std::shared_ptr< ChWheel > | m_wheel |
associated wheel subsystem | |
double | m_stepsize |
tire integration step size (if applicable) | |
CollisionType | m_collision_type |
method used for tire-terrain collision | |
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
◆ GetInertia()
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inlineoverridevirtual |
Get the tire moments of inertia.
Note that these should not include the inertia of the wheel (rim).
Implements chrono::vehicle::ChTire.
◆ GetMass()
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inlineoverridevirtual |
Get the tire mass.
Note that this should not include the mass of the wheel (rim).
Implements chrono::vehicle::ChTire.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_RigidTire.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_RigidTire.cpp