Description

Base class for a Rack-Pinion 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). The steering link translates along the Y axis. We do not explicitly model the pinion but instead use the implied rack-pinion constraint to calculate the rack displacement from a given pinion rotation angle.

#include <ChRackPinion.h>

Inheritance diagram for chrono::vehicle::ChRackPinion:

[legend]

Collaboration diagram for chrono::vehicle::ChRackPinion:

[legend]

Public Member Functions
	ChRackPinion (const std::string &name)
	Construct a rack-pinion steering mechanism with given base name. More...

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

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

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

virtual ChVector	GetSteeringLinkInertia () const =0
	Return the moments of inertia of the steering link.

virtual double	GetSteeringLinkCOM () const =0
	Return the steering link COM offset in Y direction (positive to the left).

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

virtual double	GetSteeringLinkLength () const =0
	Return the length of the steering link (visualization only).

virtual double	GetPinionRadius () const =0
	Return the radius of the pinion.

virtual double	GetMaxAngle () const =0
	Return the maximum rotation angle of the pinion (in either direction).

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const override
	Output data for this subsystem's component list to the specified database.

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< ChLinkLockPrismatic >	m_prismatic
	handle to the prismatic joint chassis-link

std::shared_ptr< ChLinkLinActuator >	m_actuator
	handle to the linear actuator on steering link

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).

Constructor & Destructor Documentation

◆ ChRackPinion()

chrono::vehicle::ChRackPinion::ChRackPinion ( const std::string & name )

Construct a rack-pinion steering mechanism with given base name.

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

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

overridevirtual

Add visualization assets for the steering subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChPart.

◆ ExportComponentList()

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

overrideprotectedvirtual

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.

Reimplemented from chrono::vehicle::ChPart.

◆ Initialize()

void chrono::vehicle::ChRackPinion::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::ChRackPinion::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.

◆ Synchronize()

void chrono::vehicle::ChRackPinion::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::ChRackPinion::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/ChRackPinion.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/steering/ChRackPinion.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChRackPinion()

Member Function Documentation

◆ AddVisualizationAssets()

◆ ExportComponentList()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ Synchronize()

◆ UpdateInertiaProperties()