Description

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

#include <ChSubchassis.h>

Inheritance diagram for chrono::vehicle::ChSubchassis:
Collaboration diagram for chrono::vehicle::ChSubchassis:

Public Member Functions

 ChSubchassis (const std::string &name)
 
const ChVectorGetLocation () const
 Get the location of the subchassis relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetBeam (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< ChBodym_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]namename 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]chassishandle to the chassis body
[in]locationlocation 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