Description

Double-A arm suspension constructed with data from file.

#include <DoubleWishbone.h>

Inheritance diagram for chrono::vehicle::DoubleWishbone:
Collaboration diagram for chrono::vehicle::DoubleWishbone:

Public Member Functions

 DoubleWishbone (const std::string &filename)
 
 DoubleWishbone (const rapidjson::Document &d)
 
virtual bool UseTierodBodies () const override
 Indicate whether or not tirod bodies are modelled (default: false). More...
 
virtual double getSpindleMass () const override
 Return the mass of the spindle body.
 
virtual double getUCAMass () const override
 Return the mass of the upper control arm body.
 
virtual double getLCAMass () const override
 Return the mass of the lower control body.
 
virtual double getUprightMass () const override
 Return the mass of the upright body.
 
virtual double getTierodMass () const override
 Return the mass of the tierod body.
 
virtual double getSpindleRadius () const override
 Return the radius of the spindle body (visualization only).
 
virtual double getSpindleWidth () const override
 Return the width of the spindle body (visualization only).
 
virtual double getUCARadius () const override
 Return the radius of the upper control arm body (visualization only).
 
virtual double getLCARadius () const override
 Return the radius of the lower control arm body (visualization only).
 
virtual double getUprightRadius () const override
 Return the radius of the upright body (visualization only).
 
virtual double getTierodRadius () const override
 Return the radius of the tierod body (visualization only).
 
virtual const ChVectorgetSpindleInertia () const override
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetUCAInertiaMoments () const override
 Return the moments of inertia of the upper control arm body.
 
virtual const ChVectorgetUCAInertiaProducts () const override
 Return the products of inertia of the upper control arm body.
 
virtual const ChVectorgetLCAInertiaMoments () const override
 Return the moments of inertia of the lower control arm body.
 
virtual const ChVectorgetLCAInertiaProducts () const override
 Return the products of inertia of the lower control arm body.
 
virtual const ChVectorgetUprightInertiaMoments () const override
 Return the moments of inertia of the upright body.
 
virtual const ChVectorgetUprightInertiaProducts () const override
 Return the products of inertia of the upright body.
 
virtual const ChVector getTierodInertia () const override
 Return the moments of inertia of the tierod body.
 
virtual double getAxleInertia () const override
 Return the inertia of the axle shaft.
 
virtual double getSpringRestLength () const override
 Return the free (rest) length of the spring element.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetSpringForceFunctor () const override
 Return the functor object for spring force.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetShockForceFunctor () const override
 Return the functor object for shock force.
 
virtual std::shared_ptr< ChVehicleBushingDatagetUCABushingData () const override
 Return stiffness and damping data for the UCA bushing. More...
 
virtual std::shared_ptr< ChVehicleBushingDatagetLCABushingData () const override
 Return stiffness and damping data for the LCA bushing. More...
 
virtual std::shared_ptr< ChVehicleBushingDatagetTierodBushingData () const override
 Return stiffness and damping data for the tierod bushings. More...
 
- Public Member Functions inherited from chrono::vehicle::ChDoubleWishbone
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual bool IsSteerable () const final override
 Specify whether or not this suspension can be steered.
 
virtual bool IsIndependent () const final override
 Specify whether or not this is an independent suspension.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0) override
 Initialize this suspension subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the suspension subsystem.
 
virtual double GetMass () const override
 Get the total mass of the suspension subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the suspension subsystem.
 
virtual double GetTrack () override
 Get the wheel track for the suspension subsystem.
 
std::shared_ptr< ChLinkTSDAGetSpring (VehicleSide side) const
 Get a handle to the specified spring element.
 
std::shared_ptr< ChLinkTSDAGetShock (VehicleSide side) const
 Get a handle to the specified shock (damper) element.
 
virtual ChSuspension::Force ReportSuspensionForce (VehicleSide side) const override
 Return current suspension forces (spring and shock) on the specified side.
 
double GetSpringForce (VehicleSide side) const
 Get the force in the spring element.
 
double GetSpringLength (VehicleSide side) const
 Get the current length of the spring element.
 
double GetSpringDeformation (VehicleSide side) const
 Get the current deformation of the spring element.
 
double GetShockForce (VehicleSide side) const
 Get the force in the shock (damper) element.
 
double GetShockLength (VehicleSide side) const
 Get the current length of the shock (damper) element.
 
double GetShockVelocity (VehicleSide side) const
 Get the current deformation velocity of the shock (damper) element.
 
ChVector Get_LCA_sph_pos (VehicleSide side)
 Global coordinates, LCA ball joint position.
 
ChVector Get_UCA_sph_pos (VehicleSide side)
 Global coordinates, UCA ball joint position.
 
virtual void LogConstraintViolations (VehicleSide side) override
 Log current constraint violations.
 
virtual std::shared_ptr< ChBodyGetAntirollBody (VehicleSide side) const override
 Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...
 
void LogHardpointLocations (const ChVector<> &ref, bool inches=false)
 Log the locations of all hardpoints. More...
 
- Public Member Functions inherited from chrono::vehicle::ChSuspension
 ChSuspension (const std::string &name)
 
const ChVectorGetLocation () const
 Get the location of the suspension subsystem relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the spindle on the specified side.
 
ChQuaternion GetSpindleRot (VehicleSide side) const
 Get the orientation of the spindle body on the specified side. More...
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the spindle body on the specified side. More...
 
double GetAxleSpeed (VehicleSide side) const
 Get the angular speed of the axle on the specified side.
 
void Synchronize ()
 Synchronize this suspension subsystem. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. More...
 
virtual std::shared_ptr< ChBodyGetBrakeBody (VehicleSide side) const
 Specify the body on the specified side for a possible connection to brake subsystem. More...
 
void ApplyParkingBrake (bool brake)
 Simple model of a parking brake.
 
- 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.
 

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 Types inherited from chrono::vehicle::ChDoubleWishbone
enum  PointId {
  SPINDLE, UPRIGHT, UCA_F, UCA_B,
  UCA_U, UCA_CM, LCA_F, LCA_B,
  LCA_U, LCA_CM, SHOCK_C, SHOCK_A,
  SPRING_C, SPRING_A, TIEROD_C, TIEROD_U,
  NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChDoubleWishbone
 ChDoubleWishbone (const std::string &name, bool vehicle_frame_inertia=false)
 Protected constructor. More...
 
void SetVehicleFrameInertiaFlag (bool val)
 Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). 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.
 
- Protected Attributes inherited from chrono::vehicle::ChDoubleWishbone
std::shared_ptr< ChBodym_upright [2]
 upright bodies (left/right)
 
std::shared_ptr< ChBodym_UCA [2]
 upper control arm bodies (left/right)
 
std::shared_ptr< ChBodym_LCA [2]
 lower control arm bodies (left/right)
 
std::shared_ptr< ChBodym_tierod [2]
 tierod bodies, if used (left/right)
 
std::shared_ptr< ChVehicleJointm_revoluteUCA [2]
 chassis-UCA revolute joints (left/right)
 
std::shared_ptr< ChVehicleJointm_sphericalUCA [2]
 upright-UCA spherical joints (left/right)
 
std::shared_ptr< ChVehicleJointm_revoluteLCA [2]
 chassis-LCA revolute joints (left/right)
 
std::shared_ptr< ChVehicleJointm_sphericalLCA [2]
 upright-LCA spherical joints (left/right)
 
std::shared_ptr< ChLinkDistancem_distTierod [2]
 tierod distance constraints (left/right)
 
std::shared_ptr< ChVehicleJointm_sphericalTierod [2]
 tierod-upright spherical joints (left/right)
 
std::shared_ptr< ChVehicleJointm_universalTierod [2]
 tierod-chassis universal joints (left/right)
 
std::shared_ptr< ChLinkTSDAm_shock [2]
 spring links (left/right)
 
std::shared_ptr< ChLinkTSDAm_spring [2]
 shock links (left/right)
 
- Protected Attributes inherited from chrono::vehicle::ChSuspension
ChVector m_location
 location relative to chassis
 
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr< ChLinkLockRevolutem_revolute [2]
 handles to spindle revolute joints
 
- 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
 

Member Function Documentation

◆ getLCABushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::DoubleWishbone::getLCABushingData ( ) const
inlineoverridevirtual

Return stiffness and damping data for the LCA bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

Reimplemented from chrono::vehicle::ChDoubleWishbone.

◆ getTierodBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::DoubleWishbone::getTierodBushingData ( ) const
inlineoverridevirtual

Return stiffness and damping data for the tierod bushings.

Used only if tierod bodies are defined (see UseTierodBody). Returning nullptr (default) results in using kinematic joints (spherical + universal).

Reimplemented from chrono::vehicle::ChDoubleWishbone.

◆ getUCABushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::DoubleWishbone::getUCABushingData ( ) const
inlineoverridevirtual

Return stiffness and damping data for the UCA bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

Reimplemented from chrono::vehicle::ChDoubleWishbone.

◆ UseTierodBodies()

virtual bool chrono::vehicle::DoubleWishbone::UseTierodBodies ( ) const
inlineoverridevirtual

Indicate whether or not tirod bodies are modelled (default: false).

If false, tierods are modelled using distance constraints. If true, rigid tierod bodies are created (in which case a derived class must provide the mass and inertia) and connected either with kinematic joints or bushings (depending on whether or not bushing data is defined).

Reimplemented from chrono::vehicle::ChDoubleWishbone.


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