Description

Tire model based on LuGre friction model.

#include <ChLugreTire.h>

Inheritance diagram for chrono::vehicle::ChLugreTire:

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Collaboration diagram for chrono::vehicle::ChLugreTire:

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

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

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the rigid tire subsystem.

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the rigid tire subsystem.

double	GetWidth () const
	Get the tire width. More...

virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment.

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

void	SetStepsize (double val)
	Set the value of the integration step size for the underlying dynamics (if applicable). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction. More...

virtual double	GetRadius () const =0
	Get the tire radius.

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

virtual double	ReportMass () const
	Report the tire mass. More...

virtual ChVector	GetInertia () const =0
	Get the tire moments of inertia. More...

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

virtual double	GetDeflection () const
	Report the tire deflection.

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. 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.

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.

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 int	GetNumDiscs () const =0
	Return the number of discs used to model this tire.

virtual const double *	GetDiscLocations () const =0
	Return the lateral disc locations. More...

virtual double	GetNormalStiffness () const =0
	Return the vertical tire stiffness (for normal force calculation).

virtual double	GetNormalDamping () const =0
	Return the vertical tire damping coefficient (for normal force calculation).

virtual void	SetLugreParams ()=0
	Set the parameters in the LuGre friction model.

virtual TerrainForce	GetTireForce () const override
	Get the tire force and moment. More...

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, const ChTerrain &terrain) override
	Update the state of this tire system at the current time. More...

virtual void	Advance (double step) override
	Advance the state of this tire by the specified time step.

Protected Member Functions inherited from chrono::vehicle::ChTire
void	CalculateKinematics (double time, const WheelState &wheel_state, const ChTerrain &terrain)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChTriangleMeshShape >	AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
	Add mesh visualization to the body associated with this tire (a wheel spindle body). More...

void	RemoveVisualizationMesh (std::shared_ptr< ChTriangleMeshShape > trimesh_shape)
	Remove the specified mesh shape from the visualization assets of the body associated with this tire (a wheel spindle body).

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
double	m_sigma0 [2]
	Lugre friction model parameters (longitudinal/lateral)

double	m_sigma1 [2]

double	m_sigma2 [2]

double	m_Fc [2]

double	m_Fs [2]

double	m_vs [2]
	Stribeck velocity.

TerrainForce	m_tireForce

std::vector< DiscContactData >	m_data

std::vector< DiscState >	m_state

std::vector< std::shared_ptr< ChCylinderShape > >	m_cyl_shapes
	visualization cylinder assets

std::shared_ptr< ChTexture >	m_texture
	visualization texture asset

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

CollisionType	m_collision_type
	method used for tire-terrain collision

std::string	m_vis_mesh_file
	name of OBJ file for visualization of this tire (may be empty)

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
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector	EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
	Utility function for estimating the tire moments of inertia. More...

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::ChTire
static bool	DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth)
	Collsion algorithm based on a paper of J. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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

◆ GetDiscLocations()

virtual const double* chrono::vehicle::ChLugreTire::GetDiscLocations ( ) const

protectedpure virtual

Return the lateral disc locations.

These locations are relative to the tire center.

Implemented in chrono::vehicle::hmmwv::HMMWV_LugreTire, and chrono::vehicle::LugreTire.

◆ GetTireForce()

virtual TerrainForce chrono::vehicle::ChLugreTire::GetTireForce ( ) const

inlineoverrideprotectedvirtual

Get the tire force and moment.

This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.

Implements chrono::vehicle::ChTire.

◆ GetWidth()

double chrono::vehicle::ChLugreTire::GetWidth ( ) const

virtual

Get the tire width.

This is just an approximation of a tire width.

Implements chrono::vehicle::ChTire.

◆ Synchronize()

void chrono::vehicle::ChLugreTire::Synchronize	(	double	time,
		const ChTerrain &	terrain
	)

overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters

[in]	time	current time
[in]	terrain	reference to the terrain system

Reimplemented from chrono::vehicle::ChTire.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChLugreTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChLugreTire.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ GetDiscLocations()

◆ GetTireForce()

◆ GetWidth()

◆ Synchronize()