Description

Template for an anti-roll subsystem using an RSD.

Base class for an anti-roll bar template modeled two arms connected with a revolute spring-damper. Derived from ChAntirollBar, but still and abstract base class.

The anti-roll bar subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The subsystem reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

#include <ChAntirollBarRSD.h>

Inheritance diagram for chrono::vehicle::ChAntirollBarRSD:

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Collaboration diagram for chrono::vehicle::ChAntirollBarRSD:

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Public Member Functions
	ChAntirollBarRSD (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSuspension > suspension, const ChVector<> &location) override
	Initialize this anti-roll bar subsystem. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChPart
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.

double	GetMass () const
	Get the subsystem mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () const
	Get the current subsystem position relative to the global frame. More...

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

virtual void	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from this subsystem.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Member Functions
virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual double	getArmMass () const =0
	Return the mass of the arm body.

virtual ChVector	getArmInertia ()=0
	Return the moments of inertia of the arm body.

virtual double	getArmLength () const =0
	Return the arm length (dimension in y direction).

virtual double	getArmWidth () const =0
	Return the arm width (dimension in X direction).

virtual double	getDroplinkHeight () const =0
	Return height of droplinks (dimension in Z direction).

virtual double	getArmRadius () const =0
	Return radius of arm (visualization only)

virtual double	getSpringCoefficient () const =0
	Return the rotational spring coefficient.

virtual double	getDampingCoefficient () const =0
	Return the rotational damping coefficient.

Protected Member Functions inherited from chrono::vehicle::ChAntirollBar
	ChAntirollBar (const std::string &name)
	Construct an anti-roll bar subsystem with given name.

Protected Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name.

void	AddMass (double &mass)
	Add this subsystem's mass. More...

void	AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia)
	Add this subsystem's inertia properties. More...

virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Protected Attributes
std::shared_ptr< ChBody >	m_arm_left
	handle to the left arm body

std::shared_ptr< ChBody >	m_arm_right
	handle to the right arm body

std::shared_ptr< ChLinkLockRevolute >	m_revolute_ch
	handle to revolute joint to chassis

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to central revolute joint

std::shared_ptr< ChLinkDistance >	m_link_left
	handle to the left droplink distance constraint

std::shared_ptr< ChLinkDistance >	m_link_right
	handle to the right droplink distance constraint

Protected Attributes inherited from chrono::vehicle::ChAntirollBar
ChVector	m_rel_loc
	relative location of antiroll bar subsystem on chassis

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

std::shared_ptr< ChPart >	m_parent
	parent subsystem (empty if parent is vehicle)

double	m_mass
	subsystem mass

ChMatrix33	m_inertia
	inertia tensor (relative to subsystem COM)

ChFrame	m_com
	COM frame (relative to subsystem reference frame)

ChFrame	m_xform
	subsystem frame expressed in the global frame

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...

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< ChLinkRSDA >> 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.

static void	RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
	Erase all visual shapes from the visual model associated with the specified physics item (if any).

static void	RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
	Erase the given shape from the visual model associated with the specified physics item (if any).

Constructor & Destructor Documentation

◆ ChAntirollBarRSD()

chrono::vehicle::ChAntirollBarRSD::ChAntirollBarRSD ( const std::string & name )

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ Initialize()

void chrono::vehicle::ChAntirollBarRSD::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChSuspension >	suspension,
		const ChVector<> &	location
	)

overridevirtual

Initialize this anti-roll bar subsystem.

The anti-roll bar subsystem is initialized by attaching it to the specified chassis at the given location (with respect to and expressed in the reference frame of the chassis) and associating it with the specified suspension subsystem (assumed to be independent). It is assumed that the anti-roll bar reference frame is always aligned with the chassis reference frame.

Parameters

[in]	chassis	handle to the chassis body
[in]	suspension	associated suspension subsystem
[in]	location	location relative to the chassis frame

Implements chrono::vehicle::ChAntirollBar.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChAntirollBarRSD::InitializeInertiaProperties ( )

overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChAntirollBarRSD::UpdateInertiaProperties ( )

overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/antirollbar/ChAntirollBarRSD.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/antirollbar/ChAntirollBarRSD.cpp

Description

Public Member Functions

Protected Member Functions