Description

Base class for the chassis vehicle subsystem.

ChChassis is the base class for a main vehicle chassis (a single chassis or a front chassis).

#include <ChChassis.h>

Inheritance diagram for chrono::vehicle::ChChassis:

[legend]

Collaboration diagram for chrono::vehicle::ChChassis:

[legend]

Classes
class	ExternalForce
	Base class for a user-defined custom force acting on the chassis body. More...

Public Member Functions
	ChChassis (const std::string &name, bool fixed=false)
	Construct a chassis subsystem with the specified name. More...

virtual double	GetMass () const =0
	Get the chassis mass.

virtual const ChMatrix33 &	GetInertia () const =0
	Get the inertia tensor of the chassis body. More...

virtual const ChVector &	GetLocalPosCOM () const =0
	Get the location of the center of mass in the chassis frame.

virtual ChCoordsys	GetLocalDriverCoordsys () const =0
	Get the local driver position and orientation. More...

virtual const ChVector	GetLocalPosRearConnector () const
	Get the location (in the local frame of this chassis) of the connection to a rear chassis.

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

ChSystem *	GetSystem () const
	Get a pointer to the containing system.

const ChVector &	GetPos () const
	Get the global location of the chassis reference frame origin.

ChQuaternion	GetRot () const
	Get the orientation of the chassis reference frame. More...

const ChVector &	GetCOMPos () const
	Get the global location of the chassis center of mass.

ChQuaternion	GetCOMRot () const
	Get the orientation of the chassis centroidal frame. More...

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

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

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

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

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

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

virtual void	Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0)
	Initialize the chassis at the specified global position and orientation. More...

virtual void	SetCollide (bool state)=0
	Enable/disable contact for the chassis. More...

void	SetFixed (bool val)
	Set the "fixed to ground" status of the chassis body.

bool	IsFixed () const
	Return true if the chassis body is fixed to ground.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

void	AddMarker (const std::string &name, const ChCoordsys<> &pos)
	Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkers () const

void	SetAerodynamicDrag (double Cd, double area, double air_density)
	Set parameters and enable aerodynamic drag force calculation. More...

virtual void	Synchronize (double time)
	Update the state of the chassis subsystem. More...

void	AddJoint (std::shared_ptr< ChVehicleJoint > joint)
	Utility function to add a joint (kinematic or bushing) to the vehicle system.

void	AddExternalForce (std::shared_ptr< ExternalForce > force)
	Utility force to add an external load to the chassis body.

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.

Static Public Member Functions
static void	RemoveJoint (std::shared_ptr< ChVehicleJoint > joint)
	Utility function to remove a joint (kinematic or bushing) from the vehicle system.

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 Attributes
std::shared_ptr< ChBodyAuxRef >	m_body
	handle to the chassis body

std::shared_ptr< ChLoadContainer >	m_bushings
	load container for vehicle bushings

std::vector< std::shared_ptr< ChMarker > >	m_markers
	list of user-defined markers

bool	m_fixed
	is the chassis body fixed to ground?

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
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

◆ ChChassis()

chrono::vehicle::ChChassis::ChChassis	(	const std::string &	name,
		bool	fixed = `false`
	)

Construct a chassis subsystem with the specified name.

Parameters

[in]	name	name of the subsystem
[in]	fixed	is the chassis body fixed to ground?

Member Function Documentation

◆ AddMarker()

void chrono::vehicle::ChChassis::AddMarker	(	const std::string &	name,
		const ChCoordsys<> &	pos
	)

Add a marker on the chassis body at the specified position (relative to the chassis reference frame).

If called before initialization, this function has no effect.

Parameters

[in]	name	marker name
[in]	pos	marker position relative to chassis reference frame

◆ GetCOMRot()

ChQuaternion chrono::vehicle::ChChassis::GetCOMRot ( ) const

Get the orientation of the chassis centroidal frame.

The chassis orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

◆ GetCOMSpeed()

double chrono::vehicle::ChChassis::GetCOMSpeed ( ) const

inline

Get the speed of the chassis COM.

Return the speed measured at the chassis center of mass.

◆ GetInertia()

virtual const ChMatrix33& chrono::vehicle::ChChassis::GetInertia ( ) const

pure virtual

Get the inertia tensor of the chassis body.

The return 3x3 symmetric matrix contains the following values:

 [ int{x^2+z^2}dm    -int{xy}dm    -int{xz}dm    ]
 [                  int{x^2+z^2}   -int{yz}dm    ]
 [                                int{x^2+y^2}dm ]

and represents the inertia tensor with respect to a centroidal frame aligned with the chassis reference frame.

◆ GetLocalDriverCoordsys()

virtual ChCoordsys chrono::vehicle::ChChassis::GetLocalDriverCoordsys ( ) const

pure virtual

Get the local driver position and orientation.

This is a coordinate system relative to the chassis reference frame.

◆ GetPointAcceleration()

ChVector chrono::vehicle::ChChassis::GetPointAcceleration ( const ChVector<> & locpos ) const

Get the acceleration at the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

◆ GetPointLocation()

ChVector chrono::vehicle::ChChassis::GetPointLocation ( const ChVector<> & locpos ) const

Get the global position of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned location is expressed in the global reference frame.

◆ GetPointVelocity()

ChVector chrono::vehicle::ChChassis::GetPointVelocity ( const ChVector<> & locpos ) const

Get the global velocity of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned velocity is expressed in the global reference frame.

◆ GetRot()

ChQuaternion chrono::vehicle::ChChassis::GetRot ( ) const

Get the orientation of the chassis reference frame.

The chassis orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

◆ GetSpeed()

double chrono::vehicle::ChChassis::GetSpeed ( ) const

inline

Get the vehicle speed.

Return the speed measured at the origin of the chassis reference frame.

◆ Initialize()

void chrono::vehicle::ChChassis::Initialize	(	ChSystem *	system,
		const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel,
		int	collision_family = `0`
	)

virtual

Initialize the chassis at the specified global position and orientation.

The initial position and forward velocity are assumed to be given in the current world frame.

Parameters

[in]	system	containing system
[in]	chassisPos	absolute chassis position
[in]	chassisFwdVel	initial chassis forward velocity
[in]	collision_family	chassis collision family

Reimplemented in chrono::vehicle::ChRigidChassis.

◆ SetAerodynamicDrag()

void chrono::vehicle::ChChassis::SetAerodynamicDrag	(	double	Cd,
		double	area,
		double	air_density
	)

Set parameters and enable aerodynamic drag force calculation.

By default, aerodynamic drag force calculation is disabled.

Parameters

[in]	Cd	drag coefficient
[in]	area	reference area
[in]	air_density	air density

◆ SetCollide()

virtual void chrono::vehicle::ChChassis::SetCollide ( bool state )

pure virtual

Enable/disable contact for the chassis.

This function controls contact of the chassis with all other collision shapes in the simulation.

Implemented in chrono::vehicle::ChRigidChassisRear, and chrono::vehicle::ChRigidChassis.

◆ Synchronize()

void chrono::vehicle::ChChassis::Synchronize ( double time )

virtual

Update the state of the chassis subsystem.

The base class implementation applies all defined external forces to the chassis body.

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

/builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.cpp

Description

Classes

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChChassis()

Member Function Documentation

◆ AddMarker()

◆ GetCOMRot()

◆ GetCOMSpeed()

◆ GetInertia()

◆ GetLocalDriverCoordsys()

◆ GetPointAcceleration()

◆ GetPointLocation()

◆ GetPointVelocity()

◆ GetRot()

◆ GetSpeed()

◆ Initialize()

◆ SetAerodynamicDrag()

◆ SetCollide()

◆ Synchronize()