Description

Base class for a wheeled vehicle driveline subsystem.

#include <ChDrivelineWV.h>

Inheritance diagram for chrono::vehicle::ChDrivelineWV:

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Collaboration diagram for chrono::vehicle::ChDrivelineWV:

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Public Member Functions
virtual int	GetNumDrivenAxles () const =0
	Return the number of driven axles.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles)=0
	Initialize the driveline subsystem. More...

virtual void	Synchronize (double time, const DriverInputs &driver_inputs, double torque)
	Update the driveline subsystem. More...

virtual void	LockAxleDifferential (int axle, bool lock)
	Lock/unlock the differential on the specified axle. More...

virtual void	LockCentralDifferential (int which, bool lock)
	Lock/unlock the specified central differential. More...

const std::vector< int > &	GetDrivenAxleIndexes () const
	Get the indexes of the vehicle's axles driven by this driveline subsystem.

virtual double	GetSpindleTorque (int axle, VehicleSide side) const =0
	Get the motor torque to be applied to the specified spindle.

virtual void	Disconnect ()=0
	Disconnect driveline from driven wheels.

Public Member Functions inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaft >	GetDriveshaft () const
	Get a handle to the driveshaft. More...

double	GetDriveshaftSpeed () const
	Get the angular speed of the driveshaft. More...

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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

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.

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.

Protected Member Functions
	ChDrivelineWV (const std::string &name)

Protected Member Functions inherited from chrono::vehicle::ChDriveline
	ChDriveline (const std::string &name)

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

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

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::vector< int >	m_driven_axles
	indexes of the driven vehicle axles

Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaft >	m_driveshaft
	shaft connection to the powertrain

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).

Member Function Documentation

◆ Initialize()

virtual void chrono::vehicle::ChDrivelineWV::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChAxleList &	axles,
		const std::vector< int > &	driven_axles
	)

pure virtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the specified axle subsystems.

Parameters

chassis	associated chassis subsystem
axles	list of all vehicle axle subsystems
driven_axles	indexes of the driven vehicle axles

Implemented in chrono::vehicle::ChShaftsDriveline8WD, chrono::vehicle::ChShaftsDriveline6WD, chrono::vehicle::ChShaftsDriveline4WD, chrono::vehicle::ChShaftsDriveline2WD, chrono::vehicle::ChSimpleDrivelineXWD, chrono::vehicle::ChSimpleDriveline, chrono::vehicle::gator::Gator_SimpleDriveline, and chrono::vehicle::generic::Generic_SimpleDriveline.

◆ LockAxleDifferential()

void chrono::vehicle::ChDrivelineWV::LockAxleDifferential	(	int	axle,
		bool	lock
	)

virtual

Lock/unlock the differential on the specified axle.

By convention, axles are counted front to back, starting with index 0 for the front-most axle.

Reimplemented in chrono::vehicle::ChShaftsDriveline8WD, chrono::vehicle::ChShaftsDriveline6WD, chrono::vehicle::ChShaftsDriveline2WD, and chrono::vehicle::ChShaftsDriveline4WD.

◆ LockCentralDifferential()

void chrono::vehicle::ChDrivelineWV::LockCentralDifferential	(	int	which,
		bool	lock
	)

virtual

Lock/unlock the specified central differential.

By convention, central differentials are counted from front to back, starting with index 0.

Reimplemented in chrono::vehicle::ChShaftsDriveline8WD, chrono::vehicle::ChShaftsDriveline6WD, chrono::vehicle::ChShaftsDriveline4WD, and chrono::vehicle::ChShaftsDriveline2WD.

◆ Synchronize()

void chrono::vehicle::ChDrivelineWV::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs,
		double	torque
	)

virtual

Update the driveline subsystem.

The motor torque represents the input to the driveline subsystem from the powertrain system. The default implementation applies this torque to the driveline's driveshaft.

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs
[in]	torque	motor torque

Reimplemented in chrono::vehicle::ChSimpleDrivelineXWD, chrono::vehicle::ChSimpleDriveline, chrono::vehicle::generic::Generic_SimpleDriveline, and chrono::vehicle::gator::Gator_SimpleDriveline.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChDrivelineWV.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChDrivelineWV.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ Initialize()

◆ LockAxleDifferential()

◆ LockCentralDifferential()

◆ Synchronize()