chrono::vehicle::ChTerrain Class Reference
Description
Base class for a terrain system.
#include <ChTerrain.h>
Inheritance diagram for chrono::vehicle::ChTerrain:
Collaboration diagram for chrono::vehicle::ChTerrain:
Classes | |
| class | FrictionFunctor |
| Class to be used as a functor interface for location-dependent coefficient of friction. More... | |
Public Member Functions | |
| virtual void | Synchronize (double time) |
| Update the state of the terrain system at the specified time. | |
| virtual void | Advance (double step) |
| Advance the state of the terrain system by the specified duration. | |
| virtual double | GetHeight (const ChVector<> &loc) const |
| Get the terrain height below the specified location. | |
| virtual ChVector | GetNormal (const ChVector<> &loc) const |
| Get the terrain normal at the point below the specified location. | |
| virtual float | GetCoefficientFriction (const ChVector<> &loc) const |
| Get the terrain coefficient of friction at the point below the specified location. More... | |
| void | RegisterFrictionFunctor (FrictionFunctor *functor) |
| Specify the functor object to provide the coefficient of friction at given (x,y) locations. | |
Protected Attributes | |
| FrictionFunctor * | m_friction_fun |
| functor for location-dependent coefficient of friction | |
Member Function Documentation
◆ GetCoefficientFriction()
|
virtual |
Get the terrain coefficient of friction at the point below the specified location.
This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it).
Reimplemented in chrono::vehicle::SCMDeformableTerrain, chrono::vehicle::RigidTerrain, chrono::vehicle::RandomSurfaceTerrain, chrono::vehicle::GranularTerrain, chrono::vehicle::CRGTerrain, chrono::vehicle::ObsModTerrain, chrono::vehicle::FEADeformableTerrain, and chrono::vehicle::FlatTerrain.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/ChTerrain.h
- /builds/uwsbel/chrono/src/chrono_vehicle/ChTerrain.cpp
