Description

Leaf-spring solid axle suspension constructed with data from file.

#include <SAELeafspringAxle.h>

Inheritance diagram for chrono::vehicle::SAELeafspringAxle:
Collaboration diagram for chrono::vehicle::SAELeafspringAxle:

Public Member Functions

 SAELeafspringAxle (const std::string &filename)
 
 SAELeafspringAxle (const rapidjson::Document &d)
 
- Public Member Functions inherited from chrono::vehicle::ChSAELeafspringAxle
 ChSAELeafspringAxle (const std::string &name)
 
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.
 
virtual void LogConstraintViolations (VehicleSide side) override
 Log current constraint violations.
 
void LogHardpointLocations (const ChVector<> &ref, bool inches=false)
 
- 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< ChBodyGetAntirollBody (VehicleSide side) const
 Specify the suspension body on the specified side to attach a possible antirollbar subsystem. 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.
 

Protected Member Functions

virtual const ChVector getAxleTubeCOM () const override
 Return the center of mass of the axle tube.
 
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 getAxleTubeMass () const override
 Return the mass of the axle tube body.
 
virtual double getSpindleMass () const override
 Return the mass of the spindle body.
 
virtual double getFrontLeafMass () const override
 Return the mass of the frontleaf body.
 
virtual double getRearLeafMass () const override
 Return the mass of the rearleaf body.
 
virtual double getClampMass () const override
 Return the mass of the half clamp body.
 
virtual double getShackleMass () const override
 Return the mass of the shackle body.
 
virtual double getAxleTubeRadius () const override
 Return the radius of the axle tube body (visualization only).
 
virtual const ChVectorgetAxleTubeInertia () const override
 Return the moments of inertia of the axle tube body.
 
virtual const ChVectorgetSpindleInertia () const override
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetFrontLeafInertia () const override
 Return the moments of inertia of the frontleaf body.
 
virtual const ChVectorgetRearLeafInertia () const override
 Return the moments of inertia of the frontleaf body.
 
virtual const ChVectorgetClampInertia () const override
 Return the moments of inertia of the half leafclamp body.
 
virtual const ChVectorgetShackleInertia () const override
 Return the moments of inertia of the shackle 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< ChLinkRotSpringCB::TorqueFunctorgetLatTorqueFunctorA () const override
 
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctorgetLatTorqueFunctorB () const override
 
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctorgetVertTorqueFunctorA () const override
 
virtual std::shared_ptr< ChLinkRotSpringCB::TorqueFunctorgetVertTorqueFunctorB () const override
 
virtual std::shared_ptr< ChVehicleBushingDatagetShackleBushingData () const override
 Return stiffness and damping data for the shackle bushing. More...
 
virtual std::shared_ptr< ChVehicleBushingDatagetClampBushingData () const override
 Return stiffness and damping data for the clamp bushing. More...
 
virtual std::shared_ptr< ChVehicleBushingDatagetLeafspringBushingData () const override
 Return stiffness and damping data for the leafspring bushing. More...
 

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::ChSAELeafspringAxle
enum  PointId {
  SHOCK_A, SHOCK_C, SPRING_A, SPRING_C,
  SPINDLE, CLAMP_A, CLAMP_B, FRONT_HANGER,
  REAR_HANGER, SHACKLE, NUM_POINTS
}
 Identifiers for the various hardpoints. 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::ChSAELeafspringAxle
std::shared_ptr< ChBodym_axleTube
 axle tube body
 
std::shared_ptr< ChLinkTSDAm_shock [2]
 spring links (L/R)
 
std::shared_ptr< ChLinkTSDAm_spring [2]
 shock links (L/R)
 
std::shared_ptr< ChBodym_shackle [2]
 shackle bodies
 
std::shared_ptr< ChVehicleJointm_shackleRev [2]
 chassis-shackle rotational joint
 
std::shared_ptr< ChBodym_frontleaf [2]
 frontleaf bodies
 
std::shared_ptr< ChLinkLockSphericalm_frontleafSph [2]
 frontleaf-chassis spherical joint
 
std::shared_ptr< ChVehicleJointm_frontleafRev [2]
 frontleaf-clampA rotational joint
 
std::shared_ptr< ChBodym_rearleaf [2]
 rearleaf bodies
 
std::shared_ptr< ChLinkLockSphericalm_rearleafSph [2]
 rearleaf-chassis spherical joint
 
std::shared_ptr< ChVehicleJointm_rearleafRev [2]
 rearleaf-clampB rotational joint
 
std::shared_ptr< ChBodym_clampA [2]
 clampA bodies
 
std::shared_ptr< ChVehicleJointm_clampARev [2]
 clampA-axleTube rotational joint Z
 
std::shared_ptr< ChBodym_clampB [2]
 clampB bodies
 
std::shared_ptr< ChVehicleJointm_clampBRev [2]
 clampB-axleTube rotational joint Z
 
std::shared_ptr< ChLinkRotSpringCBm_latRotSpringA [2]
 mimics lateral stiffness of frontleaf
 
std::shared_ptr< ChLinkRotSpringCBm_latRotSpringB [2]
 mimics lateral stiffness of rearleaf
 
std::shared_ptr< ChLinkRotSpringCBm_vertRotSpringA [2]
 mimics vertical stiffness of frontleaf
 
std::shared_ptr< ChLinkRotSpringCBm_vertRotSpringB [2]
 mimics vertical stiffness of rearleaf
 
- 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

◆ getClampBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::SAELeafspringAxle::getClampBushingData ( ) const
inlineoverrideprotectedvirtual

Return stiffness and damping data for the clamp bushing.

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

Reimplemented from chrono::vehicle::ChSAELeafspringAxle.

◆ getLeafspringBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::SAELeafspringAxle::getLeafspringBushingData ( ) const
inlineoverrideprotectedvirtual

Return stiffness and damping data for the leafspring bushing.

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

Reimplemented from chrono::vehicle::ChSAELeafspringAxle.

◆ getShackleBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::SAELeafspringAxle::getShackleBushingData ( ) const
inlineoverrideprotectedvirtual

Return stiffness and damping data for the shackle bushing.

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

Reimplemented from chrono::vehicle::ChSAELeafspringAxle.


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