chrono::vehicle::mrole::mrole_PitmanArmShafts Class Reference

Description

Pitman-arm with compliant column steering subsystem for the mrole vehicle.

#include <mrole_PitmanArmShafts.h>

Inheritance diagram for chrono::vehicle::mrole::mrole_PitmanArmShafts:
Collaboration diagram for chrono::vehicle::mrole::mrole_PitmanArmShafts:

Public Member Functions

 mrole_PitmanArmShafts (const std::string &name, bool rigid_connection)
 
virtual double getSteeringLinkMass () const override
 Return the mass of the steering link body.
 
virtual double getPitmanArmMass () const override
 Return the mass of the Pitman arm body.
 
virtual double getSteeringLinkRadius () const override
 Return the radius of the steering link body (visualization only).
 
virtual double getPitmanArmRadius () const override
 Return the radius of the Pitman arm body (visualization only).
 
virtual const ChVectorgetSteeringLinkInertiaMoments () const override
 Return the moments of inertia of the steering link body.
 
virtual const ChVectorgetSteeringLinkInertiaProducts () const override
 Return the products of inertia of the steering link body.
 
virtual const ChVectorgetPitmanArmInertiaMoments () const override
 Return the moments of inertia of the Pitman arm body.
 
virtual const ChVectorgetPitmanArmInertiaProducts () const override
 Return the products of inertia of the Pitman arm body.
 
virtual double getMaxAngle () const override
 Return the maximum rotation angle of the steering wheel.
 
virtual double getGearRatio () const override
 Return the transmission ratio in the steering column. More...
 
virtual double getSteeringCompliance () const override
 Return the steering column compliance (N.m/rad)
 
virtual double getSteeringColumnInertia () const override
 Return rotational inertia of steering column.
 
virtual const ChVector getLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual const ChVector getDirection (DirectionId which) override
 Return the unit vector for the specified direction. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPitmanArmShafts
 ChPitmanArmShafts (const std::string &name, bool vehicle_frame_inertia=false, bool rigid_column=false)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this steering subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the steering subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the steering subsystem.
 
virtual void Synchronize (double time, double steering) override
 Update the state of this steering subsystem at the current time. More...
 
virtual double GetMass () const override
 Get the total mass of the steering subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the steering subsystem.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
void GetShaftInformation (double time, double &motor_input, double &motor_input_der, std::vector< double > &shaft_angles, std::vector< double > &shaft_velocities, std::vector< double > &constraint_violations, ChVector<> &arm_angular_vel) const
 Return information on steering column shafts and couples (debugging).
 
- Public Member Functions inherited from chrono::vehicle::ChSteering
 ChSteering (const std::string &name)
 
const ChCoordsysGetPosition () const
 Get the position (location and orientation) of the steering subsystem relative to the chassis reference frame.
 
std::shared_ptr< ChBodyGetSteeringLink () const
 Get a handle to the main link of the steering subsystems. 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.
 

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::ChPitmanArmShafts
enum  PointId {
  STEERINGLINK, PITMANARM, REV, UNIV,
  REVSPH_R, REVSPH_S, TIEROD_PA, TIEROD_IA,
  NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
enum  DirectionId {
  REV_AXIS, UNIV_AXIS_ARM, UNIV_AXIS_LINK, REVSPH_AXIS,
  NUM_DIRS
}
 Identifiers for the various direction unit vectors. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPitmanArmShafts
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...
 
- 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.
 
- Protected Attributes inherited from chrono::vehicle::ChPitmanArmShafts
std::shared_ptr< ChBodym_arm
 handle to the Pitman arm body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to the chassis-arm revolute joint
 
std::shared_ptr< ChLinkRevoluteSphericalm_revsph
 handle to the revolute-spherical joint (idler arm)
 
std::shared_ptr< ChLinkUniversalm_universal
 handle to the arm-link universal joint
 
std::shared_ptr< ChShaftm_shaft_A
 shaft connected to arm body
 
std::shared_ptr< ChShaftm_shaft_C
 shaft connected to chassis
 
std::shared_ptr< ChShaftm_shaft_A1
 shaft for implementing gear ratio
 
std::shared_ptr< ChShaftm_shaft_C1
 shaft for implementing steering input
 
std::shared_ptr< ChShaftsBodym_shaft_arm
 connection of shaft_A to arm body
 
std::shared_ptr< ChShaftsBodym_shaft_chassis
 connection of shaft_C to chassis body
 
std::shared_ptr< ChShaftsGearm_shaft_gear
 reduction gear between shaft_A and shaft_A1
 
std::shared_ptr< ChShaftsMotorAnglem_shaft_motor
 steering input motor between shaft_C and shaft_C1
 
std::shared_ptr< ChShaftsGearm_rigid_connection
 rigid connection between shaft_A1 and shaft_C1
 
std::shared_ptr< ChShaftsTorsionSpringm_spring_connection
 compliant connection between shaft_A1 and shaft_C1
 
- Protected Attributes inherited from chrono::vehicle::ChSteering
ChCoordsys m_position
 location and orientation relative to chassis
 
std::shared_ptr< ChBodym_link
 handle to the main steering link
 
- 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

◆ getDirection()

const ChVector chrono::vehicle::mrole::mrole_PitmanArmShafts::getDirection ( DirectionId  which)
overridevirtual

Return the unit vector for the specified direction.

The returned vector must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChPitmanArmShafts.

◆ getGearRatio()

virtual double chrono::vehicle::mrole::mrole_PitmanArmShafts::getGearRatio ( ) const
inlineoverridevirtual

Return the transmission ratio in the steering column.

This value must be larger than 1.

Implements chrono::vehicle::ChPitmanArmShafts.

◆ getLocation()

const ChVector chrono::vehicle::mrole::mrole_PitmanArmShafts::getLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChPitmanArmShafts.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole_PitmanArmShafts.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole_PitmanArmShafts.cpp