Description
Base class for a suspension subsystem.
#include <ChAxle.h>
Public Member Functions | |
void | SetOutput (bool state) |
Enable/disable output for this subsystem. | |
void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &susp_location, const ChVector<> &arb_location, double wheel_separation=0, double left_ang_vel=0, double right_ang_vel=0) |
Initialize this axle subsystem, by initializing its components. More... | |
void | Synchronize (double time, const DriverInputs &driver_inputs) |
Synchronize this suspension subsystem. More... | |
const ChWheelList & | GetWheels () const |
Get all wheels from this axle. More... | |
std::shared_ptr< ChWheel > | GetWheel (VehicleSide side, WheelLocation location=SINGLE) const |
Get the specified wheel of this axle. | |
std::shared_ptr< ChBrake > | GetBrake (VehicleSide side) const |
Get the sdpecified brake of this axle. | |
Public Attributes | |
std::shared_ptr< ChSuspension > | m_suspension |
std::shared_ptr< ChBrake > | m_brake_left |
std::shared_ptr< ChBrake > | m_brake_right |
std::shared_ptr< ChAntirollBar > | m_antirollbar |
ChWheelList | m_wheels |
Member Function Documentation
◆ GetWheels()
|
inline |
Get all wheels from this axle.
The wheels associated with an axle are assumed to be ordered from inner to outer wheels, first left then right. In other words, for a single-wheel axle the order is left wheel, right wheel. For a double-wheel axle, the order is inner left, inner right, outer left, outer right.
◆ Initialize()
void chrono::vehicle::ChAxle::Initialize | ( | std::shared_ptr< ChChassis > | chassis, |
std::shared_ptr< ChSubchassis > | subchassis, | ||
std::shared_ptr< ChSteering > | steering, | ||
const ChVector<> & | susp_location, | ||
const ChVector<> & | arb_location, | ||
double | wheel_separation = 0 , |
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double | left_ang_vel = 0 , |
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double | right_ang_vel = 0 |
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) |
Initialize this axle subsystem, by initializing its components.
The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. If a steering subsystem is provided, the suspension tierods are to be attached to the steering's central link body (steered suspension); otherwise they are to be attached to the chassis (non-steered suspension). 'wheel_separation' is the distance between wheel centers on one side of the axle (if using double wheels). The default value of 0 indicates the common case of a single wheel per side.
- Parameters
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chassis associated chassis subsystem subchassis associated subchassis subsystem (may be null) steering associated steering subsystem (may be null) susp_location suspension location relative to the chassis frame arb_location antirollbar location relative to chassis frame wheel_separation distance between wheel centers on one side left_ang_vel initial angular velocity of left wheel right_ang_vel initial angular velocity of right wheel
◆ Synchronize()
void chrono::vehicle::ChAxle::Synchronize | ( | double | time, |
const DriverInputs & | driver_inputs | ||
) |
Synchronize this suspension subsystem.
- Parameters
-
[in] time current time [in] driver_inputs current driver inputs
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChAxle.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChAxle.cpp