Description

Definition of the mrole assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a mrole, the powertrain model, and the 8 tires. It provides wrappers to access the different systems and subsystems, functions for specifying the driveline, powertrain, and tire types, as well as functions for controlling the visualization mode of each component. Note that this is an abstract class which cannot be instantiated. Instead, use one of the concrete classes mrole_Full or mrole_Reduced.

#include <mrole.h>

Inheritance diagram for chrono::vehicle::mrole::mrole:

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Collaboration diagram for chrono::vehicle::mrole::mrole:

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Public Types
enum	CTIS { ROAD, OFFROAD_SOIL, OFFROAD_SAND }

Public Member Functions
void	SetContactMethod (ChContactMethod val)

void	SetChassisFixed (bool val)

void	SetChassisCollisionType (CollisionType val)

void	SetDriveType (DrivelineTypeWV val)

void	SetBrakeType (BrakeType brake_type)

void	SetPowertrainType (PowertrainModelType val)

void	SetTireType (TireModelType val)

void	SetTireCollisionType (ChTire::CollisionType collision_type)

void	SetInitPosition (const ChCoordsys<> &pos)

void	SetInitFwdVel (double fwdVel)

void	SetInitWheelAngVel (const std::vector< double > &omega)

void	SetTireStepSize (double step_size)

void	EnableBrakeLocking (bool lock)

ChSystem *	GetSystem () const

ChWheeledVehicle &	GetVehicle () const

std::shared_ptr< ChChassis >	GetChassis () const

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const

std::shared_ptr< ChPowertrain >	GetPowertrain () const

double	GetTotalMass () const

void	Initialize ()

void	LockAxleDifferential (int axle, bool lock)

void	LockCentralDifferential (int which, bool lock)

void	SetAerodynamicDrag (double Cd, double area, double air_density)

void	SetChassisVisualizationType (VisualizationType vis)

void	SetSuspensionVisualizationType (VisualizationType vis)

void	SetSteeringVisualizationType (VisualizationType vis)

void	SetWheelVisualizationType (VisualizationType vis)

void	SetTireVisualizationType (VisualizationType vis)

void	Synchronize (double time, const ChDriver::Inputs &driver_inputs, const ChTerrain &terrain)

void	Advance (double step)

void	SelectRoadOperation ()

void	SelectOffroadSoilOperation ()

void	SelectOffroadSandOperation ()

double	GetMaxTireSpeed ()

Protected Member Functions
	mrole (ChSystem *system)

virtual mrole_Vehicle *	CreateVehicle ()=0

Protected Attributes
CTIS	m_ctis

ChContactMethod	m_contactMethod

CollisionType	m_chassisCollisionType

bool	m_fixed

bool	m_brake_locking

DrivelineTypeWV	m_driveType

PowertrainModelType	m_powertrainType

BrakeType	m_brake_type

TireModelType	m_tireType

ChTire::CollisionType	m_tire_collision_type

double	m_tire_step_size

ChCoordsys	m_initPos

double	m_initFwdVel

std::vector< double >	m_initOmega

bool	m_apply_drag

double	m_Cd

double	m_area

double	m_air_density

ChSystem *	m_system

mrole_Vehicle *	m_vehicle

double	m_tire_mass

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes