Description

Base class for a sub-chassis system for wheeled vehicles.

#include <ChSubchassis.h>

Inheritance diagram for chrono::vehicle::ChSubchassis:

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Collaboration diagram for chrono::vehicle::ChSubchassis:

Public Member Functions
	ChSubchassis (const std::string &name)

const ChVector &	GetLocation () const
	Get the location of the subchassis relative to the chassis reference frame. More...

std::shared_ptr< ChBody >	GetBeam (VehicleSide side) const
	Get a handle to the beam body on the specified side.

virtual double	GetMass () const =0
	Get the total mass of the subchassis subsystem.

virtual ChVector	GetCOMPos () const =0
	Get the current global COM location of the subchassis subsystem.

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)=0
	Initialize this subchassis 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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

virtual void	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from 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 Attributes
ChVector	m_location
	location relative to chassis

std::shared_ptr< ChBody >	m_beam [2]
	handles to beam bodies

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...

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.

Constructor & Destructor Documentation

◆ ChSubchassis()

chrono::vehicle::ChSubchassis::ChSubchassis ( const std::string & name )

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ GetLocation()

const ChVector& chrono::vehicle::ChSubchassis::GetLocation ( ) const

inline

Get the location of the subchassis relative to the chassis reference frame.

The subchassis reference frame is always aligned with the chassis reference frame.

◆ Initialize()

virtual void chrono::vehicle::ChSubchassis::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location
	)

pure virtual

Initialize this subchassis subsystem.

The subchassis is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the subchassis reference frame is always aligned with the chassis reference frame.

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame

Implemented in chrono::vehicle::ChBalancer.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSubchassis.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSubchassis.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChSubchassis()

Member Function Documentation

◆ GetLocation()

◆ Initialize()