chrono::vehicle::uaz::UAZBUS_SAELeafspringAxle Class Reference
Description
Leafspring axle subsystem for the uaz vehicle.
#include <UAZBUS_SAELeafspringAxle.h>
Inheritance diagram for chrono::vehicle::uaz::UAZBUS_SAELeafspringAxle:
Collaboration diagram for chrono::vehicle::uaz::UAZBUS_SAELeafspringAxle:
Public Member Functions | |
UAZBUS_SAELeafspringAxle (const std::string &name) | |
Public Member Functions inherited from chrono::vehicle::ChSAELeafspringAxle | |
ChSAELeafspringAxle (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 void | LogConstraintViolations (VehicleSide side) override |
Log current constraint violations. | |
void | LogHardpointLocations (const ChVector<> &ref, bool inches=false) |
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 std::shared_ptr< ChBody > | GetAntirollBody (VehicleSide side) const |
Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More... | |
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 Member Functions | |
virtual const ChVector | getLocation (PointId which) override |
Return the location of the specified hardpoint. More... | |
virtual double | getAxleTubeMass () const override |
Return the mass of the axle tube body. | |
virtual double | getSpindleMass () const override |
Return the mass of the spindle body. | |
virtual double | getFrontLeafMass () const override |
Return the mass of the frontleaf body. | |
virtual double | getRearLeafMass () const override |
Return the mass of the rearleaf body. | |
virtual double | getClampMass () const override |
Return the mass of the half clamp body. | |
virtual double | getShackleMass () const override |
Return the mass of the shackle body. | |
virtual double | getAxleTubeRadius () const override |
Return the radius of the axle tube body (visualization only). | |
virtual double | getSpindleRadius () const override |
Return the radius of the spindle body (visualization only). | |
virtual double | getSpindleWidth () const override |
Return the width of the spindle body (visualization only). | |
virtual const ChVector | getAxleTubeCOM () const override |
Return the center of mass of the axle tube. | |
virtual const ChVector & | getAxleTubeInertia () const override |
Return the moments of inertia of the axle tube body. | |
virtual const ChVector & | getSpindleInertia () const override |
Return the moments of inertia of the spindle body. | |
virtual const ChVector & | getFrontLeafInertia () const override |
Return the moments of inertia of the frontleaf body. | |
virtual const ChVector & | getRearLeafInertia () const override |
Return the moments of inertia of the frontleaf body. | |
virtual const ChVector & | getClampInertia () const override |
Return the moments of inertia of the half leafclamp body. | |
virtual const ChVector & | getShackleInertia () const override |
Return the moments of inertia of the shackle body. | |
virtual double | getAxleInertia () const override |
Return the inertia of the axle shaft. | |
virtual double | getSpringRestLength () const override |
Return the free (rest) length of the auxiliary spring element. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getSpringForceFunctor () const override |
Return the functor object for spring force. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockForceFunctor () const override |
Return the functor object for shock force. | |
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctor > | getLatTorqueFunctorA () const override |
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctor > | getLatTorqueFunctorB () const override |
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctor > | getVertTorqueFunctorA () const override |
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctor > | getVertTorqueFunctorB () const override |
Protected Member Functions inherited from chrono::vehicle::ChPart | |
virtual void | Create (const rapidjson::Document &d) |
Create a vehicle subsystem from JSON data. More... | |
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 Types inherited from chrono::vehicle::ChSAELeafspringAxle | |
enum | PointId { SHOCK_A, SHOCK_C, SPRING_A, SPRING_C, SPINDLE, CLAMP_A, CLAMP_B, FRONT_HANGER, REAR_HANGER, SHACKLE, NUM_POINTS } |
Identifiers for the various hardpoints. 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. | |
Protected Attributes inherited from chrono::vehicle::ChSAELeafspringAxle | |
std::shared_ptr< ChBody > | m_axleTube |
handles to the axle tube body | |
std::shared_ptr< ChBody > | m_tierod |
handles to the tierod body | |
std::shared_ptr< ChLinkTSDA > | m_shock [2] |
handles to the spring links (L/R) | |
std::shared_ptr< ChLinkTSDA > | m_spring [2] |
handles to the shock links (L/R) | |
std::shared_ptr< ChBody > | m_shackle [2] |
handles to the shackle bodies | |
std::shared_ptr< ChLinkLockRevolute > | m_shackleRev [2] |
chassis-shackle rotational joint | |
std::shared_ptr< ChBody > | m_frontleaf [2] |
handles to the frontleaf bodies | |
std::shared_ptr< ChLinkLockSpherical > | m_frontleafSph [2] |
frontleaf-chassis spherical joint | |
std::shared_ptr< ChLinkLockRevolute > | m_frontleafRev [2] |
frontleaf-clampA rotational joint | |
std::shared_ptr< ChBody > | m_rearleaf [2] |
handles to the rearleaf bodies | |
std::shared_ptr< ChLinkLockSpherical > | m_rearleafSph [2] |
rearleaf-chassis spherical joint | |
std::shared_ptr< ChLinkLockRevolute > | m_rearleafRev [2] |
rearleaf-clampB rotational joint | |
std::shared_ptr< ChBody > | m_clampA [2] |
handles to the clampA bodies | |
std::shared_ptr< ChLinkLockRevolute > | m_clampARev [2] |
clampA-axleTube rotational joint Z | |
std::shared_ptr< ChBody > | m_clampB [2] |
handles to the clampB bodies | |
std::shared_ptr< ChLinkLockRevolute > | m_clampBRev [2] |
clampB-axleTube rotational joint Z | |
std::shared_ptr< ChLinkRotSpringCB > | m_latRotSpringA [2] |
mimics lateral stiffness of frontleaf | |
std::shared_ptr< ChLinkRotSpringCB > | m_latRotSpringB [2] |
mimics lateral stiffness of rearleaf | |
std::shared_ptr< ChLinkRotSpringCB > | m_vertRotSpringA [2] |
mimics vertical stiffness of frontleaf | |
std::shared_ptr< ChLinkRotSpringCB > | m_vertRotSpringB [2] |
mimics vertical stiffness of rearleaf | |
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 | |
Member Function Documentation
◆ getLocation()
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overrideprotectedvirtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChSAELeafspringAxle.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_SAELeafspringAxle.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_SAELeafspringAxle.cpp