Description

Rigid tire model.

This tire is modeled as a rigid cylinder. Requires a terrain system that supports rigid contact with friction.

#include <ChRigidTire.h>

Inheritance diagram for chrono::vehicle::ChRigidTire:

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Collaboration diagram for chrono::vehicle::ChRigidTire:

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

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

void	SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0)
	Set Wavefront OBJ file for contact mesh. More...

bool	UseContactMesh () const
	Check whether or not this tire uses a contact mesh.

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

std::shared_ptr< ChMaterialSurface >	GetContactMaterial () const
	Get the tire contact material. More...

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.

unsigned int	GetNumVertices () const
	Return the number of vertices in the contact mesh.

unsigned int	GetNumNormals () const
	Return the number of normals in the contact mesh.

unsigned int	GetNumTriangles () const
	Return the number of faces in the contact mesh.

const std::vector< ChVector< int > > &	GetMeshConnectivity () const
	Get the contact mesh connectivity.

const std::vector< ChVector< int > > &	GetMeshNormalIndices () const
	Get the mesh normal indices.

const std::vector< ChVector<> > &	GetMeshVertices () const
	Get the contact mesh vertices (in local frame).

const std::vector< ChVector<> > &	GetMeshNormals () const
	Get the contact mesh vertex normals (in local frame).

void	GetMeshVertexStates (std::vector< ChVector<>> &pos, std::vector< ChVector<>> &vel) const
	Get the current state of the collision mesh. More...

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	GetWidth () const =0
	Get the tire width.

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...

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

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

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 void	CreateContactMaterial (ChContactMethod contact_method)=0
	Create the contact material consistent with the specified contact method.

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.

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
std::shared_ptr< ChMaterialSurface >	m_material
	contact material;

bool	m_use_contact_mesh
	flag indicating use of a contact mesh

std::string	m_contact_meshFile
	name of the OBJ file for contact mesh

double	m_sweep_sphere_radius
	radius of sweeping sphere for mesh contact

std::shared_ptr< geometry::ChTriangleMeshConnected >	m_trimesh
	contact mesh

std::shared_ptr< ChCylinderShape >	m_cyl_shape
	visualization cylinder asset

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.

Constructor & Destructor Documentation

◆ ChRigidTire()

chrono::vehicle::ChRigidTire::ChRigidTire ( const std::string & name )

Parameters

[in] name name of this tire system

Member Function Documentation

◆ GetContactMaterial()

std::shared_ptr<ChMaterialSurface> chrono::vehicle::ChRigidTire::GetContactMaterial ( ) const

inline

Get the tire contact material.

Note that this is not set until after tire initialization.

◆ GetMeshVertexStates()

void chrono::vehicle::ChRigidTire::GetMeshVertexStates	(	std::vector< ChVector<>> &	pos,
		std::vector< ChVector<>> &	vel
	)		const

Get the current state of the collision mesh.

Mesh vertex positions and velocities are returned in the absolute frame.

Parameters

pos	mesh vertex positions (expressed in absolute frame)
vel	mesh vertex velocities (expressed in absolute frame)

◆ GetTireForce()

TerrainForce chrono::vehicle::ChRigidTire::GetTireForce ( ) const

overrideprotectedvirtual

Get the tire force and moment.

A ChRigidTire always returns zero force and moment since tire forces are automatically applied to the associated wheel through Chrono's frictional contact system.

Implements chrono::vehicle::ChTire.

◆ ReportTireForce()

TerrainForce chrono::vehicle::ChRigidTire::ReportTireForce ( ChTerrain * terrain ) const

overridevirtual

Report the tire force and moment.

This generalized force encapsulates the tire-terrain forces (i.e. the resultant of all contact forces acting on the tire). The force and moment are expressed in global frame, as applied to the center of the associated wheel.

Implements chrono::vehicle::ChTire.

◆ SetMeshFilename()

void chrono::vehicle::ChRigidTire::SetMeshFilename	(	const std::string &	mesh_file,
		double	sweep_sphere_radius = `0`
	)

Set Wavefront OBJ file for contact mesh.

Parameters

[in]	mesh_file	name of Wavefront file
[in]	sweep_sphere_radius	radius of sweeping sphere

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

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChRigidTire()

Member Function Documentation

◆ GetContactMaterial()

◆ GetMeshVertexStates()

◆ GetTireForce()

◆ ReportTireForce()

◆ SetMeshFilename()