chrono::vehicle::mrole::mrole_TMeasyTireSoil Class Reference

Description

TMeasy tire model for the mrole, for OFFROAD operation on deformable soils.

#include <mrole_TMeasyTire.h>

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

Public Member Functions

 mrole_TMeasyTireSoil (const std::string &name)
 
virtual double GetVisualizationWidth () const override
 Get visualization width.
 
virtual void SetTMeasyParams () override
 Set the parameters in the TMeasy model.
 
virtual double GetMass () const override
 Get the tire mass. More...
 
virtual ChVector GetInertia () const override
 Get the tire moments of inertia. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the rigid tire subsystem.
 
void GenerateCharacteristicPlots (const std::string &dirname)
 
- Public Member Functions inherited from chrono::vehicle::ChTMeasyTire
 ChTMeasyTire (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual double GetRadius () const override
 Get the tire radius.
 
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment.
 
void SetGammaLimit (double gamma_limit)
 Set the limit for camber angle (in degrees). Default: 3 degrees.
 
virtual double GetWidth () const override
 Get the width of the tire.
 
double GetSlipAngle_internal () const
 Get the tire slip angle computed internally by the TMeasy model (in radians). More...
 
double GetLongitudinalSlip_internal () const
 Get the tire longitudinal slip computed internally by the TMeasy model. More...
 
double GetCamberAngle_internal ()
 Get the camber angle computed internally by the TMeasy model (in radians). More...
 
void GuessTruck80Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
 Guess Tire Parameters from characteristic truck tire parameter pattern (Ratio = 80%) More...
 
void GuessTruck80Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
 
void GuessPassCar70Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
 Guess Tire Parameters from characteristic passenger car tire parameter pattern (Ratio = 70%) More...
 
void GuessPassCar70Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
 
void SetVerticalStiffness (double Cz)
 Set vertical tire stiffness as linear function by coefficient [N/m].
 
void SetVerticalStiffness (double Cz1, double Cz2)
 Set vertical tire stiffness as nonlinear function by coefficients at nominal load 1 [N/m] and nominal load 2 [N/m].
 
void SetVerticalStiffness (std::vector< double > &defl, std::vector< double > &frc)
 Set vertical tire stiffness as nonlinear function by calculation from tire test data (least squares).
 
void SetFrictionCoefficient (double coeff)
 Set the tire reference coefficient of friction.
 
void SetRollingResistanceCoefficients (double rr_coeff_1, double rr_coeff_2)
 Set rolling resistance coefficients.
 
void SetDynamicRadiusCoefficients (double rdyn_coeff_1, double rdyn_coeff_2)
 Set dynamic radius coefficients.
 
void WritePlots (const std::string &plFileName, const std::string &plTireFormat)
 Generate basic tire plots. More...
 
virtual double GetDeflection () const override
 Get the tire deflection.
 
ChVector GetDeflection ()
 Using tire relaxation, we have three tire deflections.
 
void ExportParameterFile (std::string fileName)
 Export a TMeasy Tire Parameter File.
 
void ExportJSONFile (std::string jsonFileName)
 Export a TMeasy Tire Parameter File in JSON format.
 
bool CheckParameters ()
 Simple parameter consistency test.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics (if applicable). More...
 
double GetStepsize () const
 Get the current value of the integration step size.
 
void SetCollisionType (CollisionType collision_type)
 Set the collision type for tire-terrain interaction. More...
 
virtual double ReportMass () const
 Report the tire mass. More...
 
double GetSlipAngle () const
 Return the tire slip angle calculated based on the current state of the associated wheel body. More...
 
double GetLongitudinalSlip () const
 Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...
 
double GetCamberAngle () const
 Return the tire camber angle calculated based on the current state of the associated wheel body. More...
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with tire 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.
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChTire
enum  CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
 
- Static Public Member Functions inherited from chrono::vehicle::ChTMeasyTire
static double GetTireMaxLoad (unsigned int li)
 Get maximum tire load from Load Index (LI) in N [0:279].
 
- Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
 Utility function for estimating the tire moments of inertia. More...
 
- 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::ChTMeasyTire
double InterpL (double fz, double w1, double w2)
 
double InterpQ (double fz, double w1, double w2)
 
void UpdateVerticalStiffness ()
 
virtual TerrainForce GetTireForce () const override
 Get the tire force and moment. More...
 
virtual void Initialize (std::shared_ptr< ChWheel > wheel) override
 Initialize this tire by associating it to the specified wheel.
 
virtual void Synchronize (double time, const ChTerrain &terrain) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
void tmxy_combined (double &f, double &fos, double s, double df0, double sm, double fm, double ss, double fs)
 
double tmy_tireoff (double sy, double nto0, double synto0, double syntoE)
 
- Protected Member Functions inherited from chrono::vehicle::ChTire
void CalculateKinematics (double time, const WheelState &wheel_state, const ChTerrain &terrain)
 Calculate kinematics quantities based on the given state of the associated wheel body. More...
 
double GetOffset () const
 Get offset from spindle center. More...
 
std::shared_ptr< ChTriangleMeshShapeAddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
 Add mesh visualization to the body associated with this tire (a wheel spindle body). More...
 
void RemoveVisualizationMesh (std::shared_ptr< ChTriangleMeshShape > trimesh_shape)
 Remove the specified mesh shape from the visualization assets of the body associated with this tire (a wheel spindle body).
 
- 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::ChTire
static bool DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 
static bool DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle)
 Perform disc-terrain collision detection considering the curvature of the road surface. More...
 
static bool DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth)
 Collsion algorithm based on a paper of J. More...
 
static void ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
 Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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::ChTMeasyTire
bool m_consider_relaxation
 
bool m_use_Reff_fallback_calculation
 
bool m_use_startup_transition
 
unsigned int m_integration_method
 
double m_time
 
double m_begin_start_transition
 
double m_end_start_transition
 
double m_vnum
 
double m_gamma
 actual camber angle
 
double m_gamma_limit
 limit camber angle (degrees!)
 
double m_unloaded_radius
 reference tire radius
 
double m_width
 tire width
 
double m_rim_radius
 tire rim radius
 
double m_roundness
 roundness factor for cross-section profile
 
double m_rolling_resistance
 actual rolling friction coeff
 
double m_mu
 local friction coefficient of the road
 
double m_a1
 polynomial coefficient a1 in cz = a1 + 2.0*a2 * deflection
 
double m_a2
 polynomial coefficient a2 in cz = a1 + 2.0*a2 * deflection
 
double m_tau_x
 Longitudinal relaxation delay time.
 
double m_tau_y
 Lateral relaxation delay time.
 
double m_relaxation_lenght_x
 Longitudinal relaxation length.
 
double m_relaxation_lenght_y
 Lateral relaxation length.
 
double m_relaxation_lenght_phi
 Relaxation length for bore movement.
 
double m_rdynco
 actual value of dynamic rolling radius weighting coefficient
 
double m_rdynco_crit
 max. considered value of m_rdynco (local minimum of dynamic rolling radius)
 
double m_fz_rdynco_crit
 Fz value r_dyn = r_dyn(m_fz_rdynco,m_rdynco_crit)
 
VehicleSide m_measured_side
 
TMeasyCoeff m_TMeasyCoeff
 
std::vector< double > m_tire_test_defl
 
std::vector< double > m_tire_test_frc
 
ChFunction_Recorder m_areaDep
 
ContactData m_data
 
TireStates m_states
 
TerrainForce m_tireforce
 
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
 
std::shared_ptr< ChTexturem_texture
 visualization texture asset
 
- Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheelm_wheel
 associated wheel subsystem
 
double m_stepsize
 tire integration step size (if applicable)
 
CollisionType m_collision_type
 method used for tire-terrain collision
 
std::string m_vis_mesh_file
 name of OBJ file for visualization of this tire (may be empty)
 
- 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

◆ GetInertia()

virtual ChVector chrono::vehicle::mrole::mrole_TMeasyTireSoil::GetInertia ( ) const
inlineoverridevirtual

Get the tire moments of inertia.

Note that these should not include the inertia of the wheel (rim).

Implements chrono::vehicle::ChTire.

◆ GetMass()

virtual double chrono::vehicle::mrole::mrole_TMeasyTireSoil::GetMass ( ) const
inlineoverridevirtual

Get the tire mass.

Note that this should not include the mass of the wheel (rim).

Implements chrono::vehicle::ChTire.


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