Description

Base class for a suspension test rig.

#include <ChSuspensionTestRig.h>

Inheritance diagram for chrono::vehicle::ChSuspensionTestRig:

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Collaboration diagram for chrono::vehicle::ChSuspensionTestRig:

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Public Member Functions
virtual	~ChSuspensionTestRig ()
	Destructor.

void	SetDriver (std::shared_ptr< ChDriverSTR > driver)
	Set driver system.

void	SetInitialRideHeight (double height)
	Set the initial ride height (relative to the chassis reference frame). More...

void	SetDisplacementLimit (double limit)
	Set the limits for post displacement (same for jounce and rebound).

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystem (default: PRIMITIVES).

void	SetSteeringVisualizationType (VisualizationType vis)
	Set visualization type for the steering subsystems (default: PRIMITIVES).

void	SetWheelVisualizationType (VisualizationType vis)
	Set visualization type for the wheel subsystems (default: NONE).

void	SetTireVisualizationType (VisualizationType vis)
	Set visualization type for the tire subsystems (default: PRIMITIVES).

void	SetSuspensionOutput (bool state)
	Enable/disable output from the suspension subsystem. More...

void	SetSteeringOutput (bool state)
	Enable/disable output from the steering subsystem (if one exists). More...

void	SetAntirollbarOutput (bool state)
	Enable/disable output from the anti-roll bar subsystem (if one exists). More...

void	Initialize ()
	Initialize this suspension test rig.

virtual void	Advance (double step) override
	Advance the state of the suspension test rig by the specified time step.

const ChVector &	GetSpindlePos (VehicleSide side) const
	Get the global location of the specified spindle.

ChQuaternion	GetSpindleRot (VehicleSide side) const
	Get the global rotation of the specified spindle.

const ChVector &	GetSpindleLinVel (VehicleSide side) const
	Get the linear velocity of the specified spindle (expressed in the global reference frame).

ChVector	GetSpindleAngVel (VehicleSide side) const
	Get the angular velocity of the specified spindle (expressed in the global reference frame).

double	GetSteeringInput () const

double	GetLeftInput () const

double	GetRightInput () const

virtual double	GetActuatorDisp (VehicleSide side)=0

virtual double	GetActuatorForce (VehicleSide side)=0

bool	HasSteering () const
	Return true if a steering system is attached.

bool	HasAntirollbar () const
	Return true if an anti-roll bar system is attached.

std::shared_ptr< ChSuspension >	GetSuspension () const
	Get the suspension subsystem.

std::shared_ptr< ChSteering >	GetSteering () const
	Get the steering subsystem.

std::shared_ptr< ChAntirollBar >	GetAntirollBar () const
	Get the anti-roll bar subsystem.

std::shared_ptr< ChWheel >	GetWheel (VehicleSide side) const
	Get a handle to the specified wheel subsystem.

double	GetMass () const
	Get the rig total mass. More...

TerrainForce	ReportTireForce (VehicleSide side) const
	Get the tire force and moment on the specified side.

ChSuspension::Force	ReportSuspensionForce (VehicleSide side) const
	Get the suspension forces on the specified side.

double	GetWheelTravel (VehicleSide side) const
	Get wheel travel, defined here as the vertical displacement of the spindle center from its position at the initial specified ride height (or initial configuration, if an initial ride height is not specified).

virtual double	GetRideHeight () const =0
	Get current ride height (relative to the chassis reference frame). More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

void	SetPlotOutput (double output_step)
	Enable/disable data collection for plot generation (default: false). More...

virtual void	PlotOutput (const std::string &out_dir, const std::string &out_name)=0
	Plot collected data. More...

Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual	~ChVehicle ()
	Destructor.

const std::string &	GetName () const
	Get the name identifier for this vehicle.

void	SetName (const std::string &name)
	Set the name identifier for this vehicle.

ChSystem *	GetSystem ()
	Get a pointer to the Chrono ChSystem.

double	GetChTime () const
	Get the current simulation time of the underlying ChSystem.

std::shared_ptr< ChChassis >	GetChassis () const
	Get a handle to the vehicle's main chassis subsystem.

std::shared_ptr< ChChassisRear >	GetChassisRear (int id) const
	Get the specified specified rear chassis subsystem.

std::shared_ptr< ChChassisConnector >	GetChassisConnector (int id) const
	Get a handle to the specified chassis connector.

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const
	Get a handle to the vehicle's chassis body.

std::shared_ptr< ChBodyAuxRef >	GetChassisRearBody (int id) const
	Get a handle to the specified rear chassis body.

virtual std::shared_ptr< ChPowertrain >	GetPowertrain () const
	Get the powertrain attached to this vehicle.

const ChVector &	GetVehiclePos () const
	Get the vehicle location. More...

ChQuaternion	GetVehicleRot () const
	Get the vehicle orientation. More...

double	GetVehicleSpeed () const
	Get the vehicle speed. More...

double	GetVehicleSpeedCOM () const
	Get the speed of the chassis COM. More...

ChVector	GetVehiclePointLocation (const ChVector<> &locpos) const
	Get the global position of the specified point. More...

ChVector	GetVehiclePointVelocity (const ChVector<> &locpos) const
	Get the global velocity of the specified point. More...

ChVector	GetVehiclePointAcceleration (const ChVector<> &locpos) const
	Get the acceleration at the specified point. More...

ChVector	GetDriverPos () const
	Get the global location of the driver.

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system. More...

void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem.

void	SetChassisRearVisualizationType (VisualizationType vis)
	Set visualization mode for the rear chassis subsystems.

void	SetChassisCollide (bool state)
	Enable/disable collision for the chassis subsystem. More...

virtual void	SetChassisVehicleCollide (bool state)
	Enable/disable collision between the chassis and all other vehicle subsystems. More...

void	SetChassisOutput (bool state)
	Enable/disable output from the chassis subsystem.

Protected Member Functions
	ChSuspensionTestRig (ChWheeledVehicle &vehicle, int axle_index, int steering_index, double displ_limit, std::shared_ptr< ChTire > tire_left, std::shared_ptr< ChTire > tire_right, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a test rig for a specified axle of a given vehicle. More...

	ChSuspensionTestRig (const std::string &filename, int axle_index, double displ_limit, std::shared_ptr< ChTire > tire_left, std::shared_ptr< ChTire > tire_right, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a test rig for a specified axle of a given vehicle. More...

	ChSuspensionTestRig (const std::string &filename, std::shared_ptr< ChTire > tire_left, std::shared_ptr< ChTire > tire_right, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a test rig from specified (JSON) file. More...

void	InitializeSubsystems ()
	Initialize all underlying vehicle subsystems.

virtual void	Output (int frame, ChVehicleOutput &database) const override
	Output data for all modeling components in the suspension test rig system.

virtual double	CalcDisplacementOffset ()=0

virtual double	CalcTerrainHeight (VehicleSide side)=0

virtual void	UpdateActuators (double displ_left, double displ_speed_left, double displ_right, double displ_speed_right)=0

virtual void	CollectPlotData (double time)=0

Protected Member Functions inherited from chrono::vehicle::ChVehicle
	ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with an underlying ChSystem. More...

	ChVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

Protected Attributes
std::shared_ptr< ChSuspension >	m_suspension
	suspension subsystem

std::shared_ptr< ChSteering >	m_steering
	steering subsystem

std::shared_ptr< ChAntirollBar >	m_antirollbar
	anti-roll bar subsystem

std::shared_ptr< ChShaft >	m_dummy_shaft
	dummy driveshaft

std::shared_ptr< ChWheel >	m_wheel [2]
	wheel subsystems

std::shared_ptr< ChTire >	m_tire [2]
	tire subsystems

double	m_ride_height
	ride height

double	m_displ_offset
	post displacement offset (to set reference position)

double	m_displ_delay
	time interval for assuming reference position

double	m_displ_limit
	scale factor for post displacement

bool	m_plot_output

double	m_plot_output_step

double	m_next_plot_output_time

utils::CSV_writer *	m_csv

Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string	m_name
	vehicle name

ChSystem *	m_system
	pointer to the Chrono system

bool	m_ownsSystem
	true if system created at construction

bool	m_output
	generate ouput for this vehicle system

ChVehicleOutput *	m_output_db
	vehicle output database

double	m_output_step
	output time step

double	m_next_output_time
	time for next output

int	m_output_frame
	current output frame

std::shared_ptr< ChChassis >	m_chassis
	handle to the main chassis subsystem

ChChassisRearList	m_chassis_rear
	list of rear chassis subsystems (can be empty)

ChChassisConnectorList	m_chassis_connectors
	list of chassis connector (must match m_chassis_rear)

Additional Inherited Members
Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool	AnyOutput (const std::vector< std::shared_ptr< T >> &list)
	Utility function for testing if any subsystem in a list generates output.

Constructor & Destructor Documentation

◆ ChSuspensionTestRig() [1/3]

chrono::vehicle::ChSuspensionTestRig::ChSuspensionTestRig	(	ChWheeledVehicle &	vehicle,
		int	axle_index,
		int	steering_index,
		double	displ_limit,
		std::shared_ptr< ChTire >	tire_left,
		std::shared_ptr< ChTire >	tire_right,
		ChContactMethod	contact_method = `ChContactMethod::NSC`
	)

protected

Construct a test rig for a specified axle of a given vehicle.

This version uses a concrete vehicle object.

Parameters

vehicle	vehicle source
axle_index	index of the suspension to be tested
steering_index	index of associated steering subsystem (-1 for no steering)
displ_limit	limits for post displacement
tire_left	left tire
tire_right	right tire
contact_method	contact method

◆ ChSuspensionTestRig() [2/3]

chrono::vehicle::ChSuspensionTestRig::ChSuspensionTestRig	(	const std::string &	filename,
		int	axle_index,
		double	displ_limit,
		std::shared_ptr< ChTire >	tire_left,
		std::shared_ptr< ChTire >	tire_right,
		ChContactMethod	contact_method = `ChContactMethod::NSC`
	)

protected

Construct a test rig for a specified axle of a given vehicle.

This version assumes the vehicle is specified through a JSON file.

Parameters

filename	JSON file with vehicle specification
axle_index	index of the suspension to be tested
displ_limit	limits for post displacement
tire_left	left tire
tire_right	right tire
contact_method	contact method

◆ ChSuspensionTestRig() [3/3]

chrono::vehicle::ChSuspensionTestRig::ChSuspensionTestRig	(	const std::string &	filename,
		std::shared_ptr< ChTire >	tire_left,
		std::shared_ptr< ChTire >	tire_right,
		ChContactMethod	contact_method = `ChContactMethod::NSC`
	)

protected

Construct a test rig from specified (JSON) file.

Parameters

filename	JSON file with test rig specification
tire_left	left tire
tire_right	right tire
contact_method	contact method

Member Function Documentation

◆ GetMass()

double chrono::vehicle::ChSuspensionTestRig::GetMass ( ) const

Get the rig total mass.

This includes the mass of the suspension and wheels, and (if present) the mass of the steering mechanism.

◆ GetRideHeight()

virtual double chrono::vehicle::ChSuspensionTestRig::GetRideHeight ( ) const

pure virtual

Get current ride height (relative to the chassis reference frame).

This estimate uses the average of the left and right posts.

Implemented in chrono::vehicle::ChSuspensionTestRigPushrod, and chrono::vehicle::ChSuspensionTestRigPlatform.

◆ PlotOutput()

virtual void chrono::vehicle::ChSuspensionTestRig::PlotOutput	(	const std::string &	out_dir,
		const std::string &	out_name
	)

pure virtual

Plot collected data.

When called (typically at the end of the simulation loop), the collected data is saved in ASCII format in a file with the specified name (and 'txt' extension) in the specified output directory. If the Chrono::Postprocess module is available (with gnuplot support), selected plots are generated.

Implemented in chrono::vehicle::ChSuspensionTestRigPushrod, and chrono::vehicle::ChSuspensionTestRigPlatform.

◆ SetAntirollbarOutput()

void chrono::vehicle::ChSuspensionTestRig::SetAntirollbarOutput ( bool state )

Enable/disable output from the anti-roll bar subsystem (if one exists).

◆ SetInitialRideHeight()

void chrono::vehicle::ChSuspensionTestRig::SetInitialRideHeight ( double height )

inline

Set the initial ride height (relative to the chassis reference frame).

If not specified, the reference height is the suspension design configuration.

◆ SetPlotOutput()

void chrono::vehicle::ChSuspensionTestRig::SetPlotOutput ( double output_step )

Enable/disable data collection for plot generation (default: false).

See ChSuspensionTestRigPlatform::plotOutput and ChSuspensionTestRigPushrod::plotOutput for details on data collected for a specific type of test rig.

◆ SetSteeringOutput()

void chrono::vehicle::ChSuspensionTestRig::SetSteeringOutput ( bool state )

Enable/disable output from the steering subsystem (if one exists).

◆ SetSuspensionOutput()

void chrono::vehicle::ChSuspensionTestRig::SetSuspensionOutput ( bool state )

Enable/disable output from the suspension subsystem.

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChSuspensionTestRig() [1/3]

◆ ChSuspensionTestRig() [2/3]

◆ ChSuspensionTestRig() [3/3]

Member Function Documentation

◆ GetMass()

◆ GetRideHeight()

◆ PlotOutput()

◆ SetAntirollbarOutput()

◆ SetInitialRideHeight()

◆ SetPlotOutput()

◆ SetSteeringOutput()

◆ SetSuspensionOutput()