Description
Base class for a multi-link suspension modeled with bodies and constraints.
Derived from ChSuspension, but still an abstract base class.
The suspension subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The suspension reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.
All point locations are assumed to be given for the left half of the suspension and will be mirrored (reflecting the y coordinates) to construct the right side.
#include <ChMultiLink.h>
Public Member Functions | |
ChMultiLink (const std::string &name) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
virtual bool | IsSteerable () const final override |
Specify whether or not this suspension can be steered. | |
virtual bool | IsIndependent () const final override |
Specify whether or not this is an independent suspension. | |
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0) override |
Initialize this suspension subsystem. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the suspension subsystem. More... | |
virtual void | RemoveVisualizationAssets () override |
Remove visualization assets for the suspension subsystem. | |
virtual double | GetMass () const override |
Get the total mass of the suspension subsystem. | |
virtual ChVector | GetCOMPos () const override |
Get the current global COM location of the suspension subsystem. | |
virtual double | GetTrack () override |
Get the wheel track for the suspension subsystem. | |
std::shared_ptr< ChLinkTSDA > | GetSpring (VehicleSide side) const |
Get a handle to the specified spring element. | |
std::shared_ptr< ChLinkTSDA > | GetShock (VehicleSide side) const |
Get a handle to the specified shock (damper) element. | |
virtual ChSuspension::Force | ReportSuspensionForce (VehicleSide side) const override |
Return current suspension forces (spring and shock) on the specified side. | |
double | GetSpringForce (VehicleSide side) const |
Get the force in the spring element. | |
double | GetSpringLength (VehicleSide side) const |
Get the current length of the spring element. | |
double | GetSpringDeformation (VehicleSide side) const |
Get the current deformation of the spring element. | |
double | GetShockForce (VehicleSide side) const |
Get the force in the shock (damper) element. | |
double | GetShockLength (VehicleSide side) const |
Get the current length of the shock (damper) element. | |
double | GetShockVelocity (VehicleSide side) const |
Get the current deformation velocity of the shock (damper) element. | |
virtual std::shared_ptr< ChBody > | GetAntirollBody (VehicleSide side) const override |
Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More... | |
virtual void | LogConstraintViolations (VehicleSide side) override |
Log current constraint violations. | |
void | LogHardpointLocations (const ChVector<> &ref, bool inches=false) |
Log the locations of all hardpoints. More... | |
Public Member Functions inherited from chrono::vehicle::ChSuspension | |
ChSuspension (const std::string &name) | |
const ChVector & | GetLocation () const |
Get the location of the suspension subsystem relative to the chassis reference frame. More... | |
std::shared_ptr< ChBody > | GetSpindle (VehicleSide side) const |
Get a handle to the spindle body on the specified side. | |
std::shared_ptr< ChShaft > | GetAxle (VehicleSide side) const |
Get a handle to the axle shaft on the specified side. | |
std::shared_ptr< ChLinkLockRevolute > | GetRevolute (VehicleSide side) const |
Get a handle to the revolute joint on the specified side. | |
const ChVector & | GetSpindlePos (VehicleSide side) const |
Get the global location of the spindle on the specified side. | |
ChQuaternion | GetSpindleRot (VehicleSide side) const |
Get the orientation of the spindle body on the specified side. More... | |
const ChVector & | GetSpindleLinVel (VehicleSide side) const |
Get the linear velocity of the spindle body on the specified side. More... | |
ChVector | GetSpindleAngVel (VehicleSide side) const |
Get the angular velocity of the spindle body on the specified side. More... | |
double | GetAxleSpeed (VehicleSide side) const |
Get the angular speed of the axle on the specified side. | |
void | Synchronize () |
Synchronize this suspension subsystem. More... | |
void | ApplyAxleTorque (VehicleSide side, double torque) |
Apply the provided motor torque. More... | |
virtual double | getSpindleRadius () const =0 |
Return the radius of the spindle body (visualization only). | |
virtual double | getSpindleWidth () const =0 |
Return the width of the spindle body (visualization only). | |
virtual std::shared_ptr< ChBody > | GetBrakeBody (VehicleSide side) const |
Specify the body on the specified side for a possible connection to brake subsystem. More... | |
void | ApplyParkingBrake (bool brake) |
Simple model of a parking brake. | |
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. | |
Protected Types | |
enum | PointId { SPINDLE, UPRIGHT, UA_F, UA_B, UA_U, UA_CM, LAT_C, LAT_U, LAT_CM, TL_C, TL_U, TL_CM, SHOCK_C, SHOCK_L, SPRING_C, SPRING_L, TIEROD_C, TIEROD_U, NUM_POINTS } |
Identifiers for the various hardpoints. More... | |
enum | DirectionId { UNIV_AXIS_LINK_TL, UNIV_AXIS_CHASSIS_TL, UNIV_AXIS_LINK_LAT, UNIV_AXIS_CHASSIS_LAT, NUM_DIRS } |
Identifiers for the various vectors. More... | |
Protected Member Functions | |
virtual const ChVector | getLocation (PointId which)=0 |
Return the location of the specified hardpoint. More... | |
virtual const ChVector | getDirection (DirectionId which)=0 |
Return the vector of the specified direction. | |
virtual double | getSpindleMass () const =0 |
Return the mass of the spindle body. | |
virtual double | getUpperArmMass () const =0 |
Return the mass of the upper arm body. | |
virtual double | getLateralMass () const =0 |
Return the mass of the lateral body. | |
virtual double | getTrailingLinkMass () const =0 |
Return the mass of the trailing link body. | |
virtual double | getUprightMass () const =0 |
Return the mass of the upright body. | |
virtual const ChVector & | getSpindleInertia () const =0 |
Return the moments of inertia of the spindle body. | |
virtual const ChVector & | getUpperArmInertia () const =0 |
Return the moments of inertia of the upper arm body. | |
virtual const ChVector & | getLateralInertia () const =0 |
Return the moments of inertia of the lateral body. | |
virtual const ChVector & | getTrailingLinkInertia () const =0 |
Return the moments of inertia of the trailing link body. | |
virtual const ChVector & | getUprightInertia () const =0 |
Return the moments of inertia of the upright body. | |
virtual double | getAxleInertia () const =0 |
Return the inertia of the axle shaft. | |
virtual double | getUpperArmRadius () const =0 |
Return the radius of the upper arm body (visualization only). | |
virtual double | getLateralRadius () const =0 |
Return the radius of the lateral body (visualization only). | |
virtual double | getTrailingLinkRadius () const =0 |
Return the radius of the trailing link body (visualization only). | |
virtual double | getUprightRadius () const =0 |
Return the radius of the upright body (visualization only). | |
virtual double | getSpringRestLength () const =0 |
Return the free (rest) length of the spring element. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getSpringForceFunctor () const =0 |
Return the functor object for spring force. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockForceFunctor () const =0 |
Return the functor object for shock force. | |
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 | |
std::shared_ptr< ChBody > | m_upright [2] |
handles to the upright bodies (left/right) | |
std::shared_ptr< ChBody > | m_upperArm [2] |
handles to the upper arm bodies (left/right) | |
std::shared_ptr< ChBody > | m_lateral [2] |
handles to the lateral bodies (left/right) | |
std::shared_ptr< ChBody > | m_trailingLink [2] |
handles to the trailing link bodies (left/right) | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteUA [2] |
handles to the chassis-UA revolute joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalUA [2] |
handles to the upright-UA spherical joints (left/right) | |
std::shared_ptr< ChLinkUniversal > | m_universalLateralChassis [2] |
handles to the chassis-lateral universal joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalLateralUpright [2] |
handles to the upright-lateral spherical joints (left/right) | |
std::shared_ptr< ChLinkUniversal > | m_universalTLChassis [2] |
handles to the chassis-trailing link universal joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalTLUpright [2] |
handles to the upright-trailing link spherical joints (left/right) | |
std::shared_ptr< ChLinkDistance > | m_distTierod [2] |
handles to the tierod distance constraints (left/right) | |
std::shared_ptr< ChLinkTSDA > | m_shock [2] |
handles to the spring links (left/right) | |
std::shared_ptr< ChLinkTSDA > | m_spring [2] |
handles to the shock links (left/right) | |
Protected Attributes inherited from chrono::vehicle::ChSuspension | |
ChVector | m_location |
location relative to chassis | |
std::shared_ptr< ChBody > | m_spindle [2] |
handles to spindle bodies | |
std::shared_ptr< ChShaft > | m_axle [2] |
handles to axle shafts | |
std::shared_ptr< ChShaftsBody > | m_axle_to_spindle [2] |
handles to spindle-shaft connectors | |
std::shared_ptr< ChLinkLockRevolute > | m_revolute [2] |
handles to spindle revolute joints | |
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 | |
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::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 Enumeration Documentation
◆ DirectionId
|
protected |
◆ PointId
|
protected |
Identifiers for the various hardpoints.
Constructor & Destructor Documentation
◆ ChMultiLink()
chrono::vehicle::ChMultiLink::ChMultiLink | ( | const std::string & | name | ) |
- Parameters
-
[in] name name of the subsystem
Member Function Documentation
◆ AddVisualizationAssets()
|
overridevirtual |
Add visualization assets for the suspension subsystem.
This default implementation uses primitives.
Reimplemented from chrono::vehicle::ChSuspension.
◆ GetAntirollBody()
|
inlineoverridevirtual |
Specify the suspension body on the specified side to attach a possible antirollbar subsystem.
Return the corresponding trailing link.
Reimplemented from chrono::vehicle::ChSuspension.
◆ getLocation()
|
protectedpure virtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the suspension reference frame.
◆ Initialize()
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overridevirtual |
Initialize this suspension subsystem.
The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. If a steering subsystem is provided, the suspension tierods are to be attached to the steering's central link body (steered suspension); otherwise they are to be attached to the chassis (non-steered suspension).
- Parameters
-
[in] chassis associated chassis subsystem [in] subchassis associated subchassis subsystem (may be null) [in] steering associated steering subsystem (may be null) [in] location location relative to the chassis frame [in] left_ang_vel initial angular velocity of left wheel [in] right_ang_vel initial angular velocity of right wheel
Implements chrono::vehicle::ChSuspension.
◆ LogHardpointLocations()
void chrono::vehicle::ChMultiLink::LogHardpointLocations | ( | const ChVector<> & | ref, |
bool | inches = false |
||
) |
Log the locations of all hardpoints.
The reported locations are expressed in the suspension reference frame. By default, these values are reported in SI units (meters), but can be optionally reported in inches.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChMultiLink.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChMultiLink.cpp