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| ChPac89Tire (const std::string &name) |
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virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template.
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virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the rigid tire subsystem.
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virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the rigid tire subsystem.
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virtual double | GetRadius () const override |
| Get the tire radius.
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void | SetGammaLimit (double gamma_limit) |
| Set the limit for camber angle (in degrees). Default: 3 degrees.
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virtual double | GetWidth () const override |
| Get the width of the tire.
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virtual double | GetDeflection () const override |
| Get the tire deflection.
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virtual double | GetVisualizationWidth () const |
| Get visualization width.
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double | GetSlipAngle_internal () const |
| Get the slip angle used in Pac89 (expressed in radians). More...
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double | GetLongitudinalSlip_internal () const |
| Get the longitudinal slip used in Pac89. More...
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double | GetCamberAngle_internal () |
| Get the camber angle used in Pac89 (expressed in radians). More...
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virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
| Report the tire force and moment.
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void | SetStepsize (double val) |
| Set the value of the integration step size for the underlying dynamics (if applicable). More...
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double | GetStepsize () const |
| Get the current value of the integration step size.
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void | SetCollisionType (CollisionType collision_type) |
| Set the collision type for tire-terrain interaction. More...
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virtual double | GetTireMass () const =0 |
| Return the tire mass.
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virtual ChVector | GetTireInertia () const =0 |
| Return the tire moments of inertia (in the tire centroidal frame).
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double | GetSlipAngle () const |
| Return the tire slip angle calculated based on the current state of the associated wheel body. More...
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double | GetLongitudinalSlip () const |
| Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...
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double | GetCamberAngle () const |
| Return the tire camber angle calculated based on the current state of the associated wheel body. More...
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const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with tire visualization mesh. More...
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const std::string & | GetName () const |
| Get the name identifier for this subsystem.
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void | SetName (const std::string &name) |
| Set the name identifier for this subsystem.
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double | GetMass () const |
| Get the subsystem mass. More...
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const ChFrame & | GetCOMFrame () const |
| Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
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const ChMatrix33 & | GetInertia () const |
| Get the current subsystem inertia (relative to the subsystem COM frame). More...
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const ChFrame & | GetTransform () const |
| Get the current subsystem position relative to the global frame. More...
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void | SetVisualizationType (VisualizationType vis) |
| Set the visualization mode for this subsystem.
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virtual void | SetOutput (bool state) |
| Enable/disable output for this subsystem.
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bool | OutputEnabled () const |
| Return the output state for this subsystem.
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virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
| Export this subsystem's component list to the specified JSON object. More...
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virtual void | Output (ChVehicleOutput &database) const |
| Output data for this subsystem's component list to the specified database.
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virtual void | SetPac89Params ()=0 |
| Set the parameters in the Pac89 model.
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virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
| Initialize this tire by associating it to the specified wheel.
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virtual void | Synchronize (double time, const ChTerrain &terrain) override |
| Update the state of this tire system at the current time. More...
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virtual void | Advance (double step) override |
| Advance the state of this tire by the specified time step.
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| ChForceElementTire (const std::string &name) |
| Construct a tire with the specified name.
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virtual double | GetNormalStiffnessForce (double depth) const =0 |
| Return the vertical tire stiffness contribution to the normal force.
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virtual double | GetNormalDampingForce (double depth, double velocity) const =0 |
| Return the vertical tire damping contribution to the normal force.
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virtual TerrainForce | GetTireForce () const override |
| Get the tire force and moment. More...
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| ChTire (const std::string &name) |
| Construct a tire subsystem with given name.
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void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
| Calculate kinematics quantities based on the given state of the associated wheel body. More...
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double | GetOffset () const |
| Get offset from spindle center. More...
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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...
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| ChPart (const std::string &name) |
| Construct a vehicle subsystem with the specified name.
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void | AddMass (double &mass) |
| Add this subsystem's mass. More...
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void | AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia) |
| Add this subsystem's inertia properties. More...
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virtual void | Create (const rapidjson::Document &d) |
| Create a vehicle subsystem from JSON data. More...
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enum | CollisionType { SINGLE_POINT,
FOUR_POINTS,
ENVELOPE
} |
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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...
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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...
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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...
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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...
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static void | ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) |
| Export the list of bodies to the specified JSON document.
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static void | ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) |
| Export the list of shafts to the specified JSON document.
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static void | ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) |
| Export the list of joints to the specified JSON document.
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static void | ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) |
| Export the list of shaft couples to the specified JSON document.
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static void | ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) |
| Export the list of markers to the specified JSON document.
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static void | ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) |
| Export the list of translational springs to the specified JSON document.
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static void | ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) |
| Export the list of rotational springs to the specified JSON document.
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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.
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static void | RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item) |
| Erase all visual shapes from the visual model associated with the specified physics item (if any).
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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).
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