Description
UAZ vehicle system.
#include <UAZBUS_SAEVehicle.h>
Public Member Functions | |
UAZBUS_SAEVehicle (const bool fixed=false, SteeringTypeWV steering_model=SteeringTypeWV::PITMAN_ARM, ChContactMethod contact_method=ChContactMethod::NSC, CollisionType chassis_collision_type=CollisionType::NONE) | |
UAZBUS_SAEVehicle (ChSystem *system, const bool fixed=false, SteeringTypeWV steering_model=SteeringTypeWV::PITMAN_ARM, CollisionType chassis_collision_type=CollisionType::NONE) | |
virtual int | GetNumberAxles () const override |
Return the number of axles for this vehicle. | |
virtual double | GetWheelbase () const override |
Return the vehicle wheelbase. | |
virtual double | GetMinTurningRadius () const override |
Return the minimum turning radius. More... | |
virtual double | GetMaxSteeringAngle () const override |
Return the maximum steering angle. More... | |
void | SetInitWheelAngVel (const std::vector< double > &omega) |
double | GetSpringForce (int axle, VehicleSide side) const |
double | GetSpringLength (int axle, VehicleSide side) const |
double | GetSpringDeformation (int axle, VehicleSide side) const |
double | GetShockForce (int axle, VehicleSide side) const |
double | GetShockLength (int axle, VehicleSide side) const |
double | GetShockVelocity (int axle, VehicleSide side) const |
virtual void | Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override |
Initialize this vehicle at the specified global location and orientation. More... | |
void | LogHardpointLocations () |
void | DebugLog (int what) |
suspension hardpoints at design | |
Public Member Functions inherited from chrono::vehicle::ChWheeledVehicle | |
ChWheeledVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC) | |
Construct a vehicle system with a default ChSystem. More... | |
ChWheeledVehicle (const std::string &name, ChSystem *system) | |
Construct a vehicle system using the specified ChSystem. More... | |
virtual | ~ChWheeledVehicle () |
Destructor. | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle system template. | |
virtual std::shared_ptr< ChPowertrain > | GetPowertrain () const override |
Get the powertrain attached to this vehicle. | |
const ChAxleList & | GetAxles () const |
Get all vehicle axle subsystems. | |
std::shared_ptr< ChAxle > | GetAxle (int id) const |
Get the specified vehicle axle subsystem. | |
std::shared_ptr< ChSuspension > | GetSuspension (int id) const |
Get the specified suspension subsystem. | |
std::shared_ptr< ChSteering > | GetSteering (int id) const |
Get the specified steering subsystem. | |
std::shared_ptr< ChWheel > | GetWheel (int axle, VehicleSide side, WheelLocation location=SINGLE) const |
Get the specified vehicle wheel, by specifying the axle, side, and wheel location. More... | |
std::shared_ptr< ChTire > | GetTire (int axle, VehicleSide side, WheelLocation location=SINGLE) const |
Get the specified vehicle tire, by specifying the axle, side, and wheel location. More... | |
std::shared_ptr< ChBrake > | GetBrake (int axle, VehicleSide side) const |
Get the specified vehicle brake, by specifying the axle and side. More... | |
std::shared_ptr< ChDrivelineWV > | GetDriveline () const |
Get a handle to the vehicle's driveline subsystem. | |
std::shared_ptr< ChSubchassis > | GetSubchassis (int id) const |
Get the subchassis system (if none present, returns an empty pointer). | |
virtual double | GetVehicleMass () const override |
Get the vehicle total mass. More... | |
virtual ChVector | GetVehicleCOMPos () const override |
Get the current global vehicle COM location. | |
virtual std::shared_ptr< ChShaft > | GetDriveshaft () const override |
Get a handle to the vehicle's driveshaft body. | |
const ChVector & | GetSpindlePos (int axle, VehicleSide side) const |
Get the global location of the specified spindle. | |
ChQuaternion | GetSpindleRot (int axle, VehicleSide side) const |
Get the orientation of the specified spindle. More... | |
const ChVector & | GetSpindleLinVel (int axle, VehicleSide side) const |
Get the linear velocity of the specified spindle. More... | |
ChVector | GetSpindleAngVel (int axle, VehicleSide side) const |
Get the angular velocity of the specified spindle. More... | |
double | GetSpindleOmega (int axle, VehicleSide side) const |
Get the angular speed of the specified spindle. More... | |
double | GetWheeltrack (int id) const |
Return the vehicle wheel track of the specified suspension subsystem. | |
void | SetSubchassisVisualizationType (VisualizationType vis) |
Set visualization mode for the sub-chassis subsystems. | |
void | SetSuspensionVisualizationType (VisualizationType vis) |
Set visualization type for the suspension subsystems. More... | |
void | SetSteeringVisualizationType (VisualizationType vis) |
Set visualization type for the steering subsystems. More... | |
void | SetWheelVisualizationType (VisualizationType vis) |
Set visualization type for the wheel subsystems. More... | |
virtual void | SetChassisVehicleCollide (bool state) override |
Enable/disable collision between the chassis and all other vehicle subsystems. More... | |
void | SetSuspensionOutput (int id, bool state) |
Enable/disable output from the suspension subsystems. More... | |
void | SetSteeringOutput (int id, bool state) |
Enable/disable output from the steering subsystems. More... | |
void | SetAntirollbarOutput (int id, bool state) |
Enable/disable output from the anti-roll bar subsystems. More... | |
void | SetDrivelineOutput (bool state) |
Enable/disable output from the driveline subsystem. More... | |
void | InitializeTire (std::shared_ptr< ChTire > tire, std::shared_ptr< ChWheel > wheel, VisualizationType tire_vis=VisualizationType::PRIMITIVES, ChTire::CollisionType tire_coll=ChTire::CollisionType::SINGLE_POINT) |
Initialize the given tire and attach it to the specified wheel. More... | |
void | InitializePowertrain (std::shared_ptr< ChPowertrain > powertrain) |
Initialize the given powertrain system and associate it to this vehicle. More... | |
virtual void | Synchronize (double time, const ChDriver::Inputs &driver_inputs, const ChTerrain &terrain) |
Update the state of this vehicle at the current time. More... | |
virtual void | Advance (double step) override final |
Advance the state of this vehicle by the specified time step. More... | |
void | LockAxleDifferential (int axle, bool lock) |
Lock/unlock the differential on the specified axle. More... | |
void | LockCentralDifferential (int which, bool lock) |
Lock/unlock the specified central differential. More... | |
void | EnableBrakeLocking (bool lock) |
Enable/disable brake locking. More... | |
void | ApplyParkingBrake (bool lock) |
Engage/disengage parking brake. More... | |
bool | ParkingBrake () const |
Returns the state of the parking brake (true if enagaged, false otherwise). | |
void | DisconnectDriveline () |
Disconnect driveline. More... | |
virtual void | LogConstraintViolations () override |
Log current constraint violations. | |
void | LogSubsystemTypes () |
Log the types (template names) of current vehicle subsystems. | |
virtual std::string | ExportComponentList () const override |
Return a JSON string with information on all modeling components in the vehicle system. More... | |
virtual void | ExportComponentList (const std::string &filename) const override |
Write a JSON-format file with information on all modeling components in the vehicle system. More... | |
Public Member Functions inherited from chrono::vehicle::ChVehicle | |
virtual | ~ChVehicle () |
Destructor. | |
const std::string & | GetName () const |
Get the name identifier for this vehicle. | |
void | SetName (const std::string &name) |
Set the name identifier for this vehicle. | |
ChSystem * | GetSystem () |
Get a pointer to the Chrono ChSystem. | |
double | GetChTime () const |
Get the current simulation time of the underlying ChSystem. | |
std::shared_ptr< ChChassis > | GetChassis () const |
Get a handle to the vehicle's main chassis subsystem. | |
std::shared_ptr< ChChassisRear > | GetChassisRear (int id) const |
Get the specified specified rear chassis subsystem. | |
std::shared_ptr< ChChassisConnector > | GetChassisConnector (int id) const |
Get a handle to the specified chassis connector. | |
std::shared_ptr< ChBodyAuxRef > | GetChassisBody () const |
Get a handle to the vehicle's chassis body. | |
std::shared_ptr< ChBodyAuxRef > | GetChassisRearBody (int id) const |
Get a handle to the specified rear chassis body. | |
const ChVector & | GetVehiclePos () const |
Get the vehicle location. More... | |
ChQuaternion | GetVehicleRot () const |
Get the vehicle orientation. More... | |
double | GetVehicleSpeed () const |
Get the vehicle speed. More... | |
double | GetVehicleSpeedCOM () const |
Get the speed of the chassis COM. More... | |
ChVector | GetVehiclePointLocation (const ChVector<> &locpos) const |
Get the global position of the specified point. More... | |
ChVector | GetVehiclePointVelocity (const ChVector<> &locpos) const |
Get the global velocity of the specified point. More... | |
ChVector | GetVehiclePointAcceleration (const ChVector<> &locpos) const |
Get the acceleration at the specified point. More... | |
ChVector | GetDriverPos () const |
Get the global location of the driver. | |
void | SetCollisionSystemType (collision::ChCollisionSystemType collsys_type) |
Change the default collision detection system. More... | |
void | SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step) |
Enable output for this vehicle system. More... | |
void | SetChassisVisualizationType (VisualizationType vis) |
Set visualization mode for the chassis subsystem. | |
void | SetChassisRearVisualizationType (VisualizationType vis) |
Set visualization mode for the rear chassis subsystems. | |
void | SetChassisCollide (bool state) |
Enable/disable collision for the chassis subsystem. More... | |
void | SetChassisOutput (bool state) |
Enable/disable output from the chassis subsystem. | |
bool | HasBushings () const |
Return true if the vehicle model contains bushings. | |
Additional Inherited Members | |
Protected Member Functions inherited from chrono::vehicle::ChWheeledVehicle | |
virtual void | Output (int frame, ChVehicleOutput &database) const override |
Output data for all modeling components in the vehicle system. | |
Protected Member Functions inherited from chrono::vehicle::ChVehicle | |
ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC) | |
Construct a vehicle system with an underlying ChSystem. More... | |
ChVehicle (const std::string &name, ChSystem *system) | |
Construct a vehicle system using the specified ChSystem. More... | |
Static Protected Member Functions inherited from chrono::vehicle::ChVehicle | |
template<typename T > | |
static bool | AnyOutput (const std::vector< std::shared_ptr< T >> &list) |
Utility function for testing if any subsystem in a list generates output. | |
Protected Attributes inherited from chrono::vehicle::ChWheeledVehicle | |
ChSubchassisList | m_subchassis |
list of subchassis subsystems (typically empty) | |
ChAxleList | m_axles |
list of axle subsystems | |
ChSteeringList | m_steerings |
list of steering subsystems | |
std::shared_ptr< ChDrivelineWV > | m_driveline |
driveline subsystem | |
std::shared_ptr< ChPowertrain > | m_powertrain |
associated powertrain system | |
bool | m_parking_on |
indicates whether or not parking brake is engaged | |
Protected Attributes inherited from chrono::vehicle::ChVehicle | |
std::string | m_name |
vehicle name | |
ChSystem * | m_system |
pointer to the Chrono system | |
bool | m_ownsSystem |
true if system created at construction | |
bool | m_output |
generate ouput for this vehicle system | |
ChVehicleOutput * | m_output_db |
vehicle output database | |
double | m_output_step |
output time step | |
double | m_next_output_time |
time for next output | |
int | m_output_frame |
current output frame | |
std::shared_ptr< ChChassis > | m_chassis |
handle to the main chassis subsystem | |
ChChassisRearList | m_chassis_rear |
list of rear chassis subsystems (can be empty) | |
ChChassisConnectorList | m_chassis_connectors |
list of chassis connector (must match m_chassis_rear) | |
Member Function Documentation
◆ GetMaxSteeringAngle()
|
inlineoverridevirtual |
Return the maximum steering angle.
This default implementation estimates the maximum steering angle based on a bicycle model and the vehicle minimum turning radius.
Reimplemented from chrono::vehicle::ChWheeledVehicle.
◆ GetMinTurningRadius()
|
inlineoverridevirtual |
Return the minimum turning radius.
A concrete wheeled vehicle class should override the default value (20 m).
Reimplemented from chrono::vehicle::ChWheeledVehicle.
◆ Initialize()
|
overridevirtual |
Initialize this vehicle at the specified global location and orientation.
This base class implementation only initializes the main chassis subsystem. Derived classes must extend this function to initialize all other wheeled vehicle subsystems (axles, steerings, driveline).
- Parameters
-
[in] chassisPos initial global position and orientation [in] chassisFwdVel initial chassis forward velocity
Reimplemented from chrono::vehicle::ChWheeledVehicle.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_SAEVehicle.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_SAEVehicle.cpp