VEHICLE module

Description

Ground vehicle modeling and simulation.

This module introduces template-based modeling tools for creating wheeled and tracked vehicles.

For additional information, see:

• the installation guide
• the tutorials

Collaboration diagram for VEHICLE module:

Modules
	Driver system
	Powertrain system
	Terrain system
	Utility classes
	Wheeled vehicles
	Tracked vehicles
	Co-simulation support for vehicle-terrain interaction

Namespaces
	chrono::vehicle
	Namespace with classes for the VEHICLE module.
	chrono::vehicle::WheeledCollisionFamily
	Enumerations for wheeled vehicle collision families.
	chrono::vehicle::TrackedCollisionFlag
	Enumerations for track collision flags.
	chrono::vehicle::TrackedCollisionFamily
	Enumerations for tracked vehicle collision families.

Classes
class	chrono::vehicle::ChassisConnectorArticulated
	Articulated chassis connector model constructed with data from file (JSON format). More...
class	chrono::vehicle::ChassisConnectorHitch
	Hitch chassis connector model constructed with data from file (JSON format). More...
class	chrono::vehicle::ChassisConnectorTorsion
	Torsion chassis connector model constructed with data from file (JSON format). More...
class	chrono::vehicle::ChChassisConnectorArticulated
	Template for an articulation chassis connector. More...
class	chrono::vehicle::ChChassisConnectorHitch
	Template for a hitch chassis connector. This is a passive connector, modeled with a spherical joint. More...
class	chrono::vehicle::ChChassisConnectorTorsion
	Template for a torsion chassis connector. More...
class	chrono::vehicle::ChRigidChassis
	Template for a rigid-body main chassis vehicle subsystem. More...
class	chrono::vehicle::ChRigidChassisRear
	Template for a rigid-body rear chassis vehicle subsystem. More...
class	chrono::vehicle::RigidChassis
	Vehicle rigid chassis model constructed with data from file (JSON format). More...
class	chrono::vehicle::RigidChassisRear
	Vehicle rigid rear chassis model constructed with data from file (JSON format). More...
class	chrono::vehicle::ChChassis
	Base class for the chassis vehicle subsystem. More...
class	chrono::vehicle::ChChassisRear
	Base class for a rear chassis vehicle subsystem. More...
class	chrono::vehicle::ChChassisConnector
	Base class for a chassis connector subsystem. More...
class	chrono::vehicle::ChDriveline
	Base class for a vehicle driveline subsystem. More...
class	chrono::vehicle::ChPart
	Base class for a vehicle subsystem. More...
struct	chrono::vehicle::BodyState
	Structure to communicate a full body state. More...
struct	chrono::vehicle::WheelState
	Structure to communicate a full wheel body state. More...
struct	chrono::vehicle::TerrainForce
	Structure to communicate a set of generalized terrain contact forces (tire or track shoe). More...
class	chrono::vehicle::LinearSpringForce
	Utility class for specifying a linear translational spring force. More...
class	chrono::vehicle::LinearDamperForce
	Utility class for specifying a linear translational damper force. More...
class	chrono::vehicle::LinearSpringDamperForce
	Utility class for specifying a linear translational spring-damper force. More...
class	chrono::vehicle::LinearSpringDamperActuatorForce
	Utility class for specifying a linear translational spring-damper force with pre-tension. More...
class	chrono::vehicle::MapSpringForce
	Utility class for specifying a map translational spring force. More...
class	chrono::vehicle::MapSpringBistopForce
	Utility class for specifying a map translational spring force with bump and rebound stop. More...
class	chrono::vehicle::LinearSpringBistopForce
	Utility class for specifying a linear translational spring force with bump and rebound stop. More...
class	chrono::vehicle::DegressiveDamperForce
	Utility class for specifying a degressive translational damper force. More...
class	chrono::vehicle::MapDamperForce
	Utility class for specifying a map translational damper force. More...
class	chrono::vehicle::MapSpringDamperActuatorForce
	Utility class for specifying a map translational spring-damper force with pre-tension. More...
class	chrono::vehicle::LinearSpringTorque
	Utility class for specifying a linear rotational spring torque. More...
class	chrono::vehicle::LinearDamperTorque
	Utility class for specifying a linear rotational damper torque. More...
class	chrono::vehicle::LinearSpringDamperTorque
	Utility class for specifying a linear rotational spring-damper torque. More...
class	chrono::vehicle::LinearSpringDamperActuatorTorque
	Utility class for specifying a linear rotational spring-damper torque with pre-tension. More...
class	chrono::vehicle::MapSpringTorque
	Utility class for specifying a map rotational spring torque. More...
class	chrono::vehicle::MapDamperTorque
	Utility class for specifying a map rotational damper torque. More...
class	chrono::vehicle::ChVehicleGeometry
	Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle body. More...
class	chrono::vehicle::ChVehicle
	Base class for chrono vehicle systems. More...
struct	chrono::vehicle::ChVehicleBushingData
	Stiffness and damping data for a vehicle bushing specification. More...
class	chrono::vehicle::ChVehicleJoint
	Wrapper class for a joint in a vehicle system which can be either a kinematic joint or a bushing. More...
class	chrono::vehicle::ChVehicleOutput
	Base class for a vehicle output database. More...
class	chrono::vehicle::ChWorldFrame
	Definition of the world frame for Chrono::Vehicle simulations. More...
class	chrono::vehicle::ChVehicleOutputASCII
	ASCII text vehicle output database. More...
class	chrono::vehicle::ChVehicleOutputHDF5
	HDF5 vehicle output database. More...

Typedefs
typedef std::vector< std::shared_ptr< ChChassisRear > >	chrono::vehicle::ChChassisRearList
	Vector of handles to rear chassis subsystems.
typedef std::vector< std::shared_ptr< ChChassisConnector > >	chrono::vehicle::ChChassisConnectorList
	Vector of handles to rear chassis subsystems.
typedef std::vector< BodyState >	chrono::vehicle::BodyStates
	Vector of body state structures.
typedef std::vector< WheelState >	chrono::vehicle::WheelStates
	Vector of wheel state structures.
typedef std::vector< TerrainForce >	chrono::vehicle::TerrainForces
	Vector of terrain conatct force structures.

Enumerations
enum	chrono::vehicle::VehicleSide { chrono::vehicle::LEFT = 0, chrono::vehicle::RIGHT = 1 }
	Enum for the side (left/right) of a vehicle. More...
enum	chrono::vehicle::WheelLocation { chrono::vehicle::SINGLE = 0, chrono::vehicle::INNER = 1, chrono::vehicle::OUTER = 2 }
	Enum for wheel location on spindle. More...
enum	chrono::vehicle::VisualizationType { chrono::vehicle::VisualizationType::NONE, chrono::vehicle::VisualizationType::PRIMITIVES, chrono::vehicle::VisualizationType::MESH }
	Enum for visualization types. More...
enum	chrono::vehicle::TireModelType {   chrono::vehicle::TireModelType::RIGID, chrono::vehicle::TireModelType::RIGID_MESH, chrono::vehicle::TireModelType::PACEJKA, chrono::vehicle::TireModelType::LUGRE,   chrono::vehicle::TireModelType::FIALA, chrono::vehicle::TireModelType::ANCF, chrono::vehicle::TireModelType::REISSNER, chrono::vehicle::TireModelType::FEA,   chrono::vehicle::TireModelType::PAC89, chrono::vehicle::TireModelType::TMEASY, chrono::vehicle::TireModelType::PAC02 }
	Enum for available tire models. More...
enum	chrono::vehicle::PowertrainModelType { chrono::vehicle::PowertrainModelType::SHAFTS, chrono::vehicle::PowertrainModelType::SIMPLE_MAP, chrono::vehicle::PowertrainModelType::SIMPLE, chrono::vehicle::PowertrainModelType::SIMPLE_CVT }
	Enum for available powertrain model templates. More...
enum	chrono::vehicle::SuspensionTypeWV {   chrono::vehicle::SuspensionTypeWV::DOUBLE_WISHBONE, chrono::vehicle::SuspensionTypeWV::DOUBLE_WISHBONE_REDUCED, chrono::vehicle::SuspensionTypeWV::HENDRICKSON_PRIMAXX, chrono::vehicle::SuspensionTypeWV::LEAF_SPRING_AXLE,   chrono::vehicle::SuspensionTypeWV::SAE_LEAF_SPRING_AXLE, chrono::vehicle::SuspensionTypeWV::MACPHERSON_STRUT, chrono::vehicle::SuspensionTypeWV::MULTI_LINK, chrono::vehicle::SuspensionTypeWV::RIGID_PINNED,   chrono::vehicle::SuspensionTypeWV::RIGID_SUSPENSION, chrono::vehicle::SuspensionTypeWV::SEMI_TRAILING_ARM, chrono::vehicle::SuspensionTypeWV::SOLID_AXLE, chrono::vehicle::SuspensionTypeWV::SOLID_THREE_LINK_AXLE,   chrono::vehicle::SuspensionTypeWV::SOLID_BELLCRANK_THREE_LINK_AXLE, chrono::vehicle::SuspensionTypeWV::THREE_LINK_IRS, chrono::vehicle::SuspensionTypeWV::TOE_BAR_LEAF_SPRING_AXLE, chrono::vehicle::SuspensionTypeWV::SAE_TOE_BAR_LEAF_SPRING_AXLE }
	Enum for available wheeled-vehicle suspension model templates. More...
enum	chrono::vehicle::BrakeType { chrono::vehicle::BrakeType::SHAFTS, chrono::vehicle::BrakeType::SIMPLE }
	Enum for available brake model templates. More...
enum	chrono::vehicle::SteeringTypeWV { chrono::vehicle::SteeringTypeWV::PITMAN_ARM, chrono::vehicle::SteeringTypeWV::PITMAN_ARM_SHAFTS, chrono::vehicle::SteeringTypeWV::RACK_PINION }
	Enum for available wheeled-vehicle steering model templates. More...
enum	chrono::vehicle::DrivelineTypeWV {   chrono::vehicle::DrivelineTypeWV::FWD, chrono::vehicle::DrivelineTypeWV::RWD, chrono::vehicle::DrivelineTypeWV::AWD, chrono::vehicle::DrivelineTypeWV::AWD6,   chrono::vehicle::DrivelineTypeWV::AWD8, chrono::vehicle::DrivelineTypeWV::SIMPLE, chrono::vehicle::DrivelineTypeWV::SIMPLE_XWD }
	Enum for wheeled-vehicle driveline types. More...
enum	chrono::vehicle::DrivelineTypeTV { chrono::vehicle::DrivelineTypeTV::BDS, chrono::vehicle::DrivelineTypeTV::SIMPLE }
	Enum for tracked-vehicle driveline types. More...
enum	chrono::vehicle::TrackShoeType { chrono::vehicle::TrackShoeType::SINGLE_PIN, chrono::vehicle::TrackShoeType::DOUBLE_PIN, chrono::vehicle::TrackShoeType::BAND_BUSHING, chrono::vehicle::TrackShoeType::BAND_ANCF }
	Enum for track shoe types. More...
enum	chrono::vehicle::GuidePinType { chrono::vehicle::GuidePinType::CENTRAL_PIN, chrono::vehicle::GuidePinType::LATERAL_PIN }
	Enum for guide pin (track shoe/roadwheel/idler). More...
enum	chrono::vehicle::OutputInformation { chrono::vehicle::OUT_SPRINGS = 1 << 0, chrono::vehicle::OUT_SHOCKS = 1 << 1, chrono::vehicle::OUT_CONSTRAINTS = 1 << 2, chrono::vehicle::OUT_TESTRIG = 1 << 3 }
	Flags for output (log/debug). More...
enum	chrono::vehicle::BodyID {   CHASSIS_BODY = -99990, SPROCKET_BODY = -99991, IDLER_BODY = -99992, WHEEL_BODY = -99993,   ROLER_BODY = -99994, SHOE_BODY = -99995 }
	Identifiers for specific component bodies.

Functions
void	chrono::vehicle::SetDataPath (const std::string &path)
	Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).
const std::string &	chrono::vehicle::GetDataPath ()
	Get the current path to the Chrono::Vehicle data directory (thread safe).
std::string	chrono::vehicle::GetDataFile (const std::string &filename)
	Get the complete path to the specified filename (thread safe). More...

Enumeration Type Documentation

BrakeType

enum chrono::vehicle::BrakeType

strong

Enum for available brake model templates.

Enumerator
SHAFTS	brake model using a clutch between two shafts
SIMPLE	brake model using a simple speed-dependent torque

DrivelineTypeTV

enum chrono::vehicle::DrivelineTypeTV

strong

Enum for tracked-vehicle driveline types.

Enumerator
BDS	braked differential steering
SIMPLE	simple kinematic driveline

DrivelineTypeWV

enum chrono::vehicle::DrivelineTypeWV

strong

Enum for wheeled-vehicle driveline types.

Enumerator
FWD	front-wheel drive
RWD	rear-wheel drive
AWD	all-wheel drive (4x4)
AWD6	all-wheel drive (6x4 / 6x6 locked)
AWD8	all-wheel drive (8x8)
SIMPLE	simple kinematic driveline
SIMPLE_XWD	simple kinematic driveline for more than 2 axles

GuidePinType

enum chrono::vehicle::GuidePinType

strong

Enum for guide pin (track shoe/roadwheel/idler).

Enumerator
CENTRAL_PIN	track shoes with central guiding pin and double wheels
LATERAL_PIN	track shoes with lateral guiding pins and single wheels

OutputInformation

enum chrono::vehicle::OutputInformation

Flags for output (log/debug).

These flags can be bit-wise ORed and used as a mask.

Enumerator
OUT_SPRINGS	suspension spring information
OUT_SHOCKS	suspension shock information
OUT_CONSTRAINTS	constraint violation information
OUT_TESTRIG	test-rig specific information

PowertrainModelType

enum chrono::vehicle::PowertrainModelType

strong

Enum for available powertrain model templates.

Enumerator
SHAFTS	powertrain based on ChShaft elements
SIMPLE_MAP	simple powertrain model (based on engine-map)
SIMPLE	simple powertrain model (similar to a DC motor)
SIMPLE_CVT	simple cvt powertrain model (like a DC motor / CVT gearbox)

SteeringTypeWV

enum chrono::vehicle::SteeringTypeWV

strong

Enum for available wheeled-vehicle steering model templates.

Enumerator
PITMAN_ARM	Pitman arm (input to revolute joint)
PITMAN_ARM_SHAFTS	Pitman arm with compliant column (input to steering wheel)
RACK_PINION	rack-pinion (input to pinion)

SuspensionTypeWV

enum chrono::vehicle::SuspensionTypeWV

strong

Enum for available wheeled-vehicle suspension model templates.

Enumerator
DOUBLE_WISHBONE	double wishbone
DOUBLE_WISHBONE_REDUCED	simplified double wishbone (constraint-based)
HENDRICKSON_PRIMAXX	Hendrickson PRIMAXX (walking beam)
LEAF_SPRING_AXLE	leaf-spring solid axle
SAE_LEAF_SPRING_AXLE	leaf-spring solid axle with kinematic leaf-spring model
MACPHERSON_STRUT	MacPherson strut.
MULTI_LINK	multi-link
RIGID_PINNED	pinned rigid beam
RIGID_SUSPENSION	rigid suspension
SEMI_TRAILING_ARM	semi trailing arm
SOLID_AXLE	solid axle
SOLID_THREE_LINK_AXLE	rigid suspension + 3 guiding links
SOLID_BELLCRANK_THREE_LINK_AXLE	rigid suspension + 3 guiding linls + bellcrank steering mechanism
THREE_LINK_IRS	three-link independent rear suspension
TOE_BAR_LEAF_SPRING_AXLE	steerable leaf-spring solid axle
SAE_TOE_BAR_LEAF_SPRING_AXLE	steerable leaf-spring solid axle with kinematic leaf-spring model

TireModelType

enum chrono::vehicle::TireModelType

strong

Enum for available tire models.

Enumerator
RIGID	rigid tire (cylindrical)
RIGID_MESH	rigid tire (mesh)
PACEJKA	Pacejka (magic formula) tire.
LUGRE	Lugre frition model tire.
FIALA	Fiala tire.
ANCF	ANCF shell element-based tire.
REISSNER	Reissner 6-field shell element-based tire.
FEA	FEA co-rotational tire.
PAC89	Pacejka 89 (magic formula) tire.
TMEASY	Tire Model Made Easy tire (G. Rill)
PAC02	Pacejka 02 (magic formula) tire, redesign of PACEJKA.

TrackShoeType

enum chrono::vehicle::TrackShoeType

strong

Enum for track shoe types.

Enumerator
SINGLE_PIN	single-pin track shoe and sprocket
DOUBLE_PIN	double-pin track shoe and sprocket
BAND_BUSHING	rigid tooth-rigid web continuous band track shoe and sprocket
BAND_ANCF	rigid tooth-ANCF web continuous band track shoe and sprocket

VehicleSide

enum chrono::vehicle::VehicleSide

Enum for the side (left/right) of a vehicle.

Enumerator
LEFT	left side of vehicle is always 0
RIGHT	right side of vehicle is always 1

VisualizationType

enum chrono::vehicle::VisualizationType

strong

Enum for visualization types.

Enumerator
NONE	no visualization
PRIMITIVES	use primitve shapes
MESH	use meshes

WheelLocation

enum chrono::vehicle::WheelLocation

Enum for wheel location on spindle.

Enumerator
SINGLE	wheel on one side of a single-wheel axle
INNER	inner wheel on one side of a double-wheel axle
OUTER	outer wheel on one side of a double-wheel axle

Function Documentation

GetDataFile()

CH_VEHICLE_API std::string chrono::vehicle::GetDataFile

(

const std::string &

filename

)

Get the complete path to the specified filename (thread safe).

The filename is assumed to be given relative to the Chrono::Vehicle model data directory.