Description

Base class for a Pitman Arm steering subsystem.

The steering subsystem is modeled with respect to a right-handed frame with with X pointing towards the front, Y to the left, and Z up (ISO standard).

When attached to a chassis, both an offset and a rotation (as a quaternion) are provided.

#include <ChPitmanArm.h>

Inheritance diagram for chrono::vehicle::ChPitmanArm:

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Collaboration diagram for chrono::vehicle::ChPitmanArm:

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Public Member Functions
virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
	Initialize this steering subsystem. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the steering subsystem. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the steering subsystem.

virtual void	Synchronize (double time, const DriverInputs &driver_inputs) override
	Update the state of this steering subsystem at the current time. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChSteering
const ChFrame &	GetRelTransform () const
	Get the frame of the steering subsystem relative to the associated chassis reference frame.

std::shared_ptr< ChBody >	GetSteeringLink () const
	Get a handle to the main link of the steering subsystems. 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.

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	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Types
enum	PointId { STEERINGLINK, PITMANARM, REV, UNIV, REVSPH_R, REVSPH_S, TIEROD_PA, TIEROD_IA, NUM_POINTS }
	Identifiers for the various hardpoints. More...

enum	DirectionId { REV_AXIS, UNIV_AXIS_ARM, UNIV_AXIS_LINK, REVSPH_AXIS, NUM_DIRS }
	Identifiers for the various direction unit vectors. More...

Protected Member Functions
	ChPitmanArm (const std::string &name, bool vehicle_frame_inertia=false)
	Protected constructor. More...

void	SetVehicleFrameInertiaFlag (bool val)
	Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). More...

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

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

virtual const ChVector	getLocation (PointId which)=0
	Return the location of the specified hardpoint. More...

virtual const ChVector	getDirection (DirectionId which)=0
	Return the unit vector for the specified direction. More...

virtual double	getSteeringLinkMass () const =0
	Return the mass of the steering link body.

virtual double	getPitmanArmMass () const =0
	Return the mass of the Pitman arm body.

virtual const ChVector &	getSteeringLinkInertiaMoments () const =0
	Return the moments of inertia of the steering link body.

virtual const ChVector &	getSteeringLinkInertiaProducts () const =0
	Return the products of inertia of the steering link body.

virtual const ChVector &	getPitmanArmInertiaMoments () const =0
	Return the moments of inertia of the Pitman arm body.

virtual const ChVector &	getPitmanArmInertiaProducts () const =0
	Return the products of inertia of the Pitman arm body.

virtual double	getSteeringLinkRadius () const =0
	Return the radius of the steering link body (visualization only).

virtual double	getPitmanArmRadius () const =0
	Return the radius of the Pitman arm body (visualization only).

virtual double	getMaxAngle () const =0
	Return the maximum rotation angle of the revolute joint.

Protected Member Functions inherited from chrono::vehicle::ChSteering
	ChSteering (const std::string &name)
	Construct a steering subsystem with given name.

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::shared_ptr< ChBody >	m_arm
	handle to the Pitman arm body

std::shared_ptr< ChLinkMotorRotationAngle >	m_revolute
	handle to the chassis-arm revolute joint

std::shared_ptr< ChLinkRevoluteSpherical >	m_revsph
	handle to the revolute-spherical joint (idler arm)

std::shared_ptr< ChLinkUniversal >	m_universal
	handle to the arm-link universal joint

Protected Attributes inherited from chrono::vehicle::ChSteering
ChFrame	m_rel_xform
	location and orientation relative to associated chassis

std::shared_ptr< ChBody >	m_link
	handle to the main steering link

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 Enumeration Documentation

◆ DirectionId

enum chrono::vehicle::ChPitmanArm::DirectionId

protected

Identifiers for the various direction unit vectors.

Enumerator
REV_AXIS	revolute joint
UNIV_AXIS_ARM	universal joint (Pitman arm side)
UNIV_AXIS_LINK	universal joint (steering link side)
REVSPH_AXIS	revolute joint for idler arm

◆ PointId

enum chrono::vehicle::ChPitmanArm::PointId

protected

Identifiers for the various hardpoints.

Enumerator
STEERINGLINK	steering link location (com)
PITMANARM	Pitman arm location (com)
REV	location of joint between Pitman arm and chassis
UNIV	location of joint between Pitman arm and steering link
REVSPH_R	location of revolute joint for the idler arm
REVSPH_S	location of spherical joint for the idler arm
TIEROD_PA	tierod connection point (Pitman arm side)
TIEROD_IA	tierod connection point (idler arm side)

Constructor & Destructor Documentation

◆ ChPitmanArm()

chrono::vehicle::ChPitmanArm::ChPitmanArm	(	const std::string &	name,
		bool	vehicle_frame_inertia = `false`
	)

protected

Protected constructor.

Parameters

[in]	name	name of the subsystem
[in]	vehicle_frame_inertia	inertia specified in vehicle-aligned centroidal frames?

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChPitmanArm::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the steering subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChPart.

◆ getDirection()

virtual const ChVector chrono::vehicle::ChPitmanArm::getDirection ( DirectionId which )

protectedpure virtual

Return the unit vector for the specified direction.

The returned vector must be expressed in the suspension reference frame.

Implemented in chrono::vehicle::rccar::RCCar_PitmanArm, chrono::vehicle::PitmanArm, chrono::vehicle::feda::FEDA_PitmanArm, chrono::vehicle::hmmwv::HMMWV_PitmanArm, and chrono::vehicle::mrole::mrole_PitmanArm.

◆ getLocation()

virtual const ChVector chrono::vehicle::ChPitmanArm::getLocation ( PointId which )

protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the suspension reference frame.

Implemented in chrono::vehicle::rccar::RCCar_PitmanArm, chrono::vehicle::PitmanArm, chrono::vehicle::feda::FEDA_PitmanArm, chrono::vehicle::hmmwv::HMMWV_PitmanArm, and chrono::vehicle::mrole::mrole_PitmanArm.

◆ Initialize()

void chrono::vehicle::ChPitmanArm::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector<> &	location,
		const ChQuaternion<> &	rotation
	)

overridevirtual

Initialize this steering subsystem.

The steering subsystem is initialized by attaching it to the specified chassis at the specified location (with respect to and expressed in the reference frame of the chassis) and with specified orientation (with respect to the chassis reference frame).

Parameters

[in]	chassis	associated chassis subsystem
[in]	location	location relative to the chassis frame
[in]	rotation	orientation relative to the chassis frame

Implements chrono::vehicle::ChSteering.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChPitmanArm::InitializeInertiaProperties ( )

overrideprotectedvirtual

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.

Implements chrono::vehicle::ChPart.

◆ SetVehicleFrameInertiaFlag()

void chrono::vehicle::ChPitmanArm::SetVehicleFrameInertiaFlag ( bool val )

inlineprotected

Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false).

Note that this function must be called before Initialize().

◆ Synchronize()

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

overridevirtual

Update the state of this steering subsystem at the current time.

The steering subsystem is provided the current steering driver input (a value between -1 and +1). Positive steering input indicates steering to the left. This function is called during the vehicle update.

Parameters

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

Implements chrono::vehicle::ChSteering.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChPitmanArm::UpdateInertiaProperties ( )

overrideprotectedvirtual

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.

Implements chrono::vehicle::ChPart.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/ChPitmanArm.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/ChPitmanArm.cpp

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ DirectionId

◆ PointId

Constructor & Destructor Documentation

◆ ChPitmanArm()

Member Function Documentation

◆ AddVisualizationAssets()

◆ getDirection()

◆ getLocation()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ SetVehicleFrameInertiaFlag()

◆ Synchronize()

◆ UpdateInertiaProperties()