chrono::vehicle::ChForceElementTire Class Referenceabstract
Description
Base class for a force lement tire model.
#include <ChForceElementTire.h>
Inheritance diagram for chrono::vehicle::ChForceElementTire:
Collaboration diagram for chrono::vehicle::ChForceElementTire:
Public Member Functions | |
| virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
| Report the tire force and moment. | |
 Public Member Functions inherited from chrono::vehicle::ChTire | |
| void | SetStepsize (double val) |
| Set the value of the integration step size for the underlying dynamics (if applicable). More... | |
| double | GetStepsize () const |
| Get the current value of the integration step size. | |
| void | SetCollisionType (CollisionType collision_type) |
| Set the collision type for tire-terrain interaction. More... | |
| virtual double | GetRadius () const =0 |
| Get the tire radius. | |
| virtual double | GetWidth () const =0 |
| Get the tire width. | |
| virtual double | GetTireMass () const =0 |
| Return the tire mass. | |
| virtual ChVector | GetTireInertia () const =0 |
| Return the tire moments of inertia (in the tire centroidal frame). | |
| double | GetSlipAngle () const |
| Return the tire slip angle calculated based on the current state of the associated wheel body. More... | |
| double | GetLongitudinalSlip () const |
| Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More... | |
| double | GetCamberAngle () const |
| Return the tire camber angle calculated based on the current state of the associated wheel body. More... | |
| virtual double | GetDeflection () const |
| Report the tire deflection. | |
| const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with tire visualization mesh. More... | |
| virtual void | Initialize (std::shared_ptr< ChWheel > wheel) |
| Initialize this tire subsystem by associating it to an existing wheel subsystem. | |
| virtual void | Synchronize (double time, const ChTerrain &terrain) |
| Update the state of this tire system at the current time. More... | |
| virtual void | Advance (double step) |
| Advance the state of this tire by the specified time step. | |
| 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 | |
| ChForceElementTire (const std::string &name) | |
| Construct a tire with the specified name. | |
| virtual double | GetNormalStiffnessForce (double depth) const =0 |
| Return the vertical tire stiffness contribution to the normal force. | |
| virtual double | GetNormalDampingForce (double depth, double velocity) const =0 |
| Return the vertical tire damping contribution to the normal force. | |
| virtual TerrainForce | GetTireForce () const override |
| Get the tire force and moment. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChTire | |
| ChTire (const std::string &name) | |
| Construct a tire subsystem with given name. | |
| void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
| Calculate kinematics quantities based on the given state of the associated wheel body. More... | |
| double | GetOffset () const |
| Get offset from spindle center. More... | |
| std::shared_ptr< ChTriangleMeshShape > | AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right) |
| Add mesh visualization to the body associated with this tire (a wheel spindle body). 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 | |
| ContactData | m_data |
| tire-terrain collision information | |
| TerrainForce | m_tireforce |
| tire forces (in tire contact frame) | |
| ChFunction_Recorder | m_areaDep |
| Protected Attributes inherited from chrono::vehicle::ChTire | |
| std::shared_ptr< ChWheel > | m_wheel |
| associated wheel subsystem | |
| double | m_stepsize |
| tire integration step size (if applicable) | |
| CollisionType | m_collision_type |
| method used for tire-terrain collision | |
| std::string | m_vis_mesh_file |
| name of OBJ file for visualization of this tire (may be empty) | |
| 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 | |
| Public Types inherited from chrono::vehicle::ChTire | |
| enum | CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE } |
| Static Public Member Functions inherited from chrono::vehicle::ChTire | |
| static ChVector | EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2) |
| Utility function for estimating the tire moments of inertia. More... | |
| 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::ChTire | |
| static bool | DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection, using the specified method. More... | |
| static void | ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep) |
| Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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
◆ GetTireForce()
|
overrideprotectedvirtual |
Get the tire force and moment.
This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.
Implements chrono::vehicle::ChTire.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChForceElementTire.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChForceElementTire.cpp
