Description

Base class for a vehicle subsystem.

It manages the part's name, visualization assets, and output.

#include <ChPart.h>

Inheritance diagram for chrono::vehicle::ChPart:

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Collaboration diagram for chrono::vehicle::ChPart:

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Public Member Functions
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.

Static Public Member Functions
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...

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

virtual void	InitializeInertiaProperties ()=0
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties ()=0
	Update subsystem inertia properties. More...

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...

Static Protected Member Functions
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).

Protected Attributes
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

Friends
class	ChAxle

class	ChWheeledVehicle

class	ChTrackedVehicle

Member Function Documentation

◆ AddInertiaProperties()

void chrono::vehicle::ChPart::AddInertiaProperties	(	ChVector<> &	com,
		ChMatrix33<> &	inertia
	)

protected

Add this subsystem's inertia properties.

This utility function first invokes UpdateInertiaProperties and then incorporates the contribution from this subsystem to the provided quantities:

com: COM expressed in the global frame (scaled by the subsystem mass)
inertia: inertia tensor relative to the global reference frame

◆ AddMass()

void chrono::vehicle::ChPart::AddMass ( double & mass )

protected

Add this subsystem's mass.

This utility function first invokes InitializeInertiaProperties and then increments the given total mass.

◆ Create()

void chrono::vehicle::ChPart::Create ( const rapidjson::Document & d )

protectedvirtual

Create a vehicle subsystem from JSON data.

A derived class must override this function and first invoke the base class implementation.

◆ ExportComponentList()

void chrono::vehicle::ChPart::ExportComponentList ( rapidjson::Document & jsonDocument ) const

virtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

◆ GetCOMFrame()

const ChFrame& chrono::vehicle::ChPart::GetCOMFrame ( ) const

inline

Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame).

Note that the correct value is reported only after the subsystem is initialized.

◆ GetInertia()

const ChMatrix33& chrono::vehicle::ChPart::GetInertia ( ) const

inline

Get the current subsystem inertia (relative to the subsystem COM frame).

The return 3x3 symmetric matrix

 [ int{x^2+z^2}dm    -int{xy}dm    -int{xz}dm    ]
 [                  int{x^2+z^2}   -int{yz}dm    ]
 [                                int{x^2+y^2}dm ]

represents the inertia tensor relative to the subsystem COM frame. Note that the correct value is reported only after the subsystem is initialized.

◆ GetMass()

double chrono::vehicle::ChPart::GetMass ( ) const

inline

Get the subsystem mass.

Note that the correct value is reported only after the subsystem is initialized.

◆ GetTransform()

const ChFrame& chrono::vehicle::ChPart::GetTransform ( ) const

inline

Get the current subsystem position relative to the global frame.

Note that the vehicle frame is defined to be the reference frame of the (main) chassis. Note that the correct value is reported only after the subsystem is initialized.

◆ InitializeInertiaProperties()

virtual void chrono::vehicle::ChPart::InitializeInertiaProperties ( )

protectedpure virtual

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.

◆ TransformInertiaMatrix()

ChMatrix33 chrono::vehicle::ChPart::TransformInertiaMatrix	(	const ChVector<> &	moments,
		const ChVector<> &	products,
		const ChMatrix33<> &	vehicle_rot,
		const ChMatrix33<> &	body_rot
	)

static

Utility function for transforming inertia tensors between centroidal frames.

It converts an inertia matrix specified in a centroidal frame aligned with the vehicle reference frame to an inertia matrix expressed in a centroidal body reference frame.

Parameters

moments	moments of inertia in vehicle-aligned centroidal frame
products	products of inertia in vehicle-aligned centroidal frame
vehicle_rot	vehicle absolute orientation matrix
body_rot	body absolute orientation matrix

◆ UpdateInertiaProperties()

virtual void chrono::vehicle::ChPart::UpdateInertiaProperties ( )

protectedpure virtual

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.

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

/builds/uwsbel/chrono/src/chrono_vehicle/ChPart.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChPart.cpp

Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ AddInertiaProperties()

◆ AddMass()

◆ Create()

◆ ExportComponentList()

◆ GetCOMFrame()

◆ GetInertia()

◆ GetMass()

◆ GetTransform()

◆ InitializeInertiaProperties()

◆ TransformInertiaMatrix()

◆ UpdateInertiaProperties()