Description

Base class for a drawbar-pull rig mechanism.

Derived classes implement different ways for measuring DBP.

#include <ChVehicleCosimDBPRig.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimDBPRig:

Public Types

enum  Type { Type::IMPOSED_SLIP, Type::IMPOSED_ANG_VEL }
 Type of DBP rig. More...
 

Public Member Functions

void SetDBPFilterWindow (double window)
 Set window (in seconds) for the running average filter for drawbar pull reporting (default: 0.1 s).
 
void SetSlipFilterWindow (double window)
 Set window (in seconds) for the running average filter for slip reporting (default: 0.1 s).
 
virtual Type GetType () const =0
 Get rig type.
 
virtual double GetSlip () const =0
 Return current value of longitudinal slip.
 
virtual double GetLinVel () const =0
 Return current rig linear speed.
 
virtual double GetAngVel () const =0
 Return current wheel angular speed.
 
virtual double GetDBP () const =0
 Return current raw drawbar-pull value.
 
double GetFilteredDBP () const
 Return current filtered drawbar-pull value.
 
double GetFilteredSlip () const
 Return current filtered slip value.
 

Protected Member Functions

virtual void InitializeRig (std::shared_ptr< ChBody > chassis, const std::vector< ChVector<>> &tire_info)=0
 Initialize the rig mechanism, by attaching it to the specified chassis body. More...
 
virtual std::shared_ptr< ChFunctionGetMotorFunction () const =0
 Return a function to specify spindle angular speed.
 

Protected Attributes

bool m_verbose
 verbose messages during simulation?
 
double m_delay_time
 initialization (ramping up) time
 

Friends

class ChVehicleCosimMBSNode
 

Member Enumeration Documentation

◆ Type

Type of DBP rig.

Enumerator
IMPOSED_SLIP 

rig of type ChVehicleCosimDBPRigImposedSlip

IMPOSED_ANG_VEL 

rig of type ChVehicleCosimDBPRigImposedAngVel

Member Function Documentation

◆ InitializeRig()

virtual void chrono::vehicle::ChVehicleCosimDBPRig::InitializeRig ( std::shared_ptr< ChBody chassis,
const std::vector< ChVector<>> &  tire_info 
)
protectedpure virtual

Initialize the rig mechanism, by attaching it to the specified chassis body.

Parameters
chassisassociated chassis body
tire_infomass, radius, width for each tire

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp