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< ChFunction >	GetMotorFunction () 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

Member Enumeration Documentation

strong

Type of DBP rig.

Enumerator
IMPOSED_SLIP	rig of type ChVehicleCosimDBPRigImposedSlip
IMPOSED_ANG_VEL	rig of type ChVehicleCosimDBPRigImposedAngVel

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

chassis	associated chassis body
tire_info	mass, radius, width for each tire

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