Description

Base class for a vehicle wheel subsystem.

A wheel subsystem does not own a body. Instead, when attached to a suspension subsystem, the wheel's mass properties are used to update those of the spindle body owned by the suspension. A concrete wheel subsystem can optionally carry its own visualization assets (which are associated with the suspension's spindle body).

#include <ChWheel.h>

Inheritance diagram for chrono::vehicle::ChWheel:

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Collaboration diagram for chrono::vehicle::ChWheel:

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

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

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

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

virtual double	GetRadius () const
	Get the wheel radius (for visualization only).

virtual double	GetWidth () const
	Get the wheel width (for visualization only).

virtual void	Initialize (std::shared_ptr< ChBody > spindle, VehicleSide side, double offset=0)
	Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem. More...

void	Synchronize ()
	Synchronize the wheel subsystem. More...

std::shared_ptr< ChTire >	GetTire () const
	Get the tire attached to this wheel.

void	SetTire (std::shared_ptr< ChTire > tire)
	Associate the given tire with this wheel.

std::shared_ptr< ChBody >	GetSpindle () const
	Get the associated spindle body.

VehicleSide	GetSide () const
	Get the vehicle side on which this wheel is mounted.

ChVector	GetPos () const
	Get wheel position (expressed in absolute frame).

WheelState	GetState () const
	Get the current state for this wheel. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the wheel subsystem. More...

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

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with wheel 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 Attributes
std::shared_ptr< ChBody >	m_spindle
	associated suspension spindle body

std::shared_ptr< ChTire >	m_tire
	attached tire subsystem

VehicleSide	m_side
	wheel mounted on left/right side

double	m_offset
	offset from spindle center

std::string	m_vis_mesh_file
	visualization mesh file (may be empty)

std::shared_ptr< ChTriangleMeshShape >	m_trimesh_shape
	visualization mesh asset

std::shared_ptr< ChCylinderShape >	m_cyl_shape
	visualization cylinder asset

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

Friends
class	ChTire

class	ChWheeledVehicle

Additional Inherited Members
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...

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. 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

◆ ChWheel()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChWheel::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the wheel subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::rccar::RCCar_Wheel, chrono::vehicle::kraz::Kraz_tractor_Wheel, and chrono::vehicle::kraz::Kraz_trailer_Wheel.

◆ GetMeshFilename()

const std::string& chrono::vehicle::ChWheel::GetMeshFilename ( ) const

inline

Get the name of the Wavefront file with wheel visualization mesh.

An empty string is returned if no mesh was specified.

◆ GetState()

WheelState chrono::vehicle::ChWheel::GetState ( ) const

Get the current state for this wheel.

This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame, as well as the wheel angular speed about its rotation axis.

◆ Initialize()

void chrono::vehicle::ChWheel::Initialize	(	std::shared_ptr< ChBody >	spindle,
		VehicleSide	side,
		double	offset = `0`
	)

virtual

Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem.

The optional 'offset' argument allows models with double wheels(tires). The default value offset=0 corresponds to an axle with a single tire. A positive offset corresponds to an "outer" wheel, while a negative offset corresponds to an "inner" wheel. The wheel mass and inertia are used to increment those of the associated spindle body.

Parameters

spindle	associated suspension spindle body
side	wheel mounted on left/right side
offset	offset from associated spindle center

◆ Synchronize()

void chrono::vehicle::ChWheel::Synchronize ( )

Synchronize the wheel subsystem.

This queries the forces from the attached tire and passes it to the associated suspension.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChWheel.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChWheel.cpp

Description

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members