Description

Template for an articulation chassis connector.

This is an active connector, modeled with a rotational motor (a revolute joint along the chassis vertical axis whose DOF can be actuated based on current steering input).

#include <ChChassisConnectorArticulated.h>

Inheritance diagram for chrono::vehicle::ChChassisConnectorArticulated:

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Collaboration diagram for chrono::vehicle::ChChassisConnectorArticulated:

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

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

virtual void	Initialize (std::shared_ptr< ChChassis > front, std::shared_ptr< ChChassisRear > rear) override
	Initialize this chassis connector subsystem. More...

virtual void	Synchronize (double time, double steering) override
	Update the state of this connector subsystem at the current time. More...

Public Member Functions inherited from chrono::vehicle::ChChassisConnector
	ChChassisConnector (const std::string &name)

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	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 Member Functions
virtual double	GetMaxSteeringAngle () const =0
	Return the maximum steering angle. More...

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Protected Attributes
std::shared_ptr< ChLinkMotorRotationAngle >	m_motor
	steering motor

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...

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.

Member Function Documentation

◆ GetMaxSteeringAngle()

virtual double chrono::vehicle::ChChassisConnectorArticulated::GetMaxSteeringAngle ( ) const

protectedpure virtual

Return the maximum steering angle.

The steering input is scaled by this value to produce the angle applied to the underlying rotational motor.

Implemented in chrono::vehicle::ChassisConnectorArticulated.

◆ Initialize()

void chrono::vehicle::ChChassisConnectorArticulated::Initialize	(	std::shared_ptr< ChChassis >	front,
		std::shared_ptr< ChChassisRear >	rear
	)

overridevirtual

Initialize this chassis connector subsystem.

The subsystem is initialized by attaching it to the specified front and rear chassis bodies at the specified location (with respect to and expressed in the reference frame of the front chassis).

Parameters

[in]	front	front chassis
[in]	rear	rear chassis

Implements chrono::vehicle::ChChassisConnector.

◆ Synchronize()

void chrono::vehicle::ChChassisConnectorArticulated::Synchronize	(	double	time,
		double	steering
	)

overridevirtual

Update the state of this connector subsystem at the current time.

The connector subsystem is provided the current steering driver input (a value between -1 and +1). Positive steering input indicates steering to the left. This connector uses the steering input to control the angle in the underlying rotational motor.

Parameters

[in]	time	current time
[in]	steering	current steering input [-1,+1]

Reimplemented from chrono::vehicle::ChChassisConnector.

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

/builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChChassisConnectorArticulated.h
/builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChChassisConnectorArticulated.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ GetMaxSteeringAngle()

◆ Initialize()

◆ Synchronize()