chrono::vehicle::ChLugreTire Class Referenceabstract
Description
Tire model based on LuGre friction model.
#include <ChLugreTire.h>
Inheritance diagram for chrono::vehicle::ChLugreTire:
Collaboration diagram for chrono::vehicle::ChLugreTire:
Public Member Functions | |
| ChLugreTire (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the rigid tire subsystem. | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the rigid tire subsystem. | |
| double | GetWidth () const |
| Get the tire width. More... | |
| virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
| Report the tire force and moment. | |
 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 | GetRadius () const =0 |
| Get the tire radius. | |
| virtual double | GetMass () const =0 |
| Get the tire mass. More... | |
| virtual double | ReportMass () const |
| Report the tire mass. More... | |
| virtual ChVector | GetInertia () const =0 |
| Get the tire moments of inertia. 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. | |
| const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with tire visualization mesh. 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. | |
| 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. | |
Protected Member Functions | |
| virtual int | GetNumDiscs () const =0 |
| Return the number of discs used to model this tire. | |
| virtual const double * | GetDiscLocations () const =0 |
| Return the lateral disc locations. More... | |
| virtual double | GetNormalStiffness () const =0 |
| Return the vertical tire stiffness (for normal force calculation). | |
| virtual double | GetNormalDamping () const =0 |
| Return the vertical tire damping coefficient (for normal force calculation). | |
| virtual void | SetLugreParams ()=0 |
| Set the parameters in the LuGre friction model. | |
| virtual TerrainForce | GetTireForce () const override |
| Get the tire force and moment. More... | |
| virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
| Initialize this tire by associating it to the specified wheel. | |
| virtual void | Synchronize (double time, const ChTerrain &terrain) override |
| Update the state of this tire system at the current time. More... | |
| virtual void | Advance (double step) override |
| Advance the state of this tire by the specified time step. | |
| 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... | |
Protected Attributes | |
| double | m_sigma0 [2] |
| Lugre friction model parameters (longitudinal/lateral) | |
| double | m_sigma1 [2] |
| double | m_sigma2 [2] |
| double | m_Fc [2] |
| double | m_Fs [2] |
| double | m_vs [2] |
| Stribeck velocity. | |
| TerrainForce | m_tireForce |
| std::vector< DiscContactData > | m_data |
| std::vector< DiscState > | m_state |
| std::vector< std::shared_ptr< ChCylinderShape > > | m_cyl_shapes |
| visualization cylinder assets | |
| std::shared_ptr< ChTexture > | m_texture |
| visualization texture asset | |
| 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 | |
| std::string | m_vis_mesh_file |
| name of OBJ file for visualization of this tire (may be empty) | |
| 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 | |
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... | |
| 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. | |
Member Function Documentation
◆ GetDiscLocations()
|
protectedpure virtual |
Return the lateral disc locations.
These locations are relative to the tire center.
Implemented in chrono::vehicle::hmmwv::HMMWV_LugreTire, and chrono::vehicle::LugreTire.
◆ GetTireForce()
|
inlineoverrideprotectedvirtual |
Get the tire force and moment.
This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.
Implements chrono::vehicle::ChTire.
◆ GetWidth()
| double chrono::vehicle::ChLugreTire::GetWidth | ( | ) | const |
Get the tire width.
This is just an approximation of a tire width.
◆ Synchronize()
|
overrideprotectedvirtual |
Update the state of this tire system at the current time.
- Parameters
-
[in] time current time [in] terrain reference to the terrain system
Reimplemented from chrono::vehicle::ChTire.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChLugreTire.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChLugreTire.cpp
