Description
Template for a rigid-body main chassis vehicle subsystem.
#include <ChRigidChassis.h>
Public Member Functions | |
ChRigidChassis (const std::string &name, bool fixed=false) | |
Construct a vehicle subsystem with the specified name. More... | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
bool | HasCollision () const |
Specifies whether or not collision shapes were defined. | |
bool | HasPrimitives () const |
Specifies whether or not visualization primitives were defined. | |
bool | HasMesh () const |
Specifies whether or not a visualization mesh was defined. | |
const std::string & | GetMeshFilename () const |
Get the name of the Wavefront file with chassis visualization mesh. More... | |
virtual void | SetCollide (bool state) override |
Enable/disable contact for the chassis. More... | |
virtual void | Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0) override |
Initialize the chassis at the specified global position and orientation. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets to this subsystem, for the specified visualization mode. | |
virtual void | RemoveVisualizationAssets () override final |
Remove all visualization assets from this subsystem. | |
Public Member Functions inherited from chrono::vehicle::ChChassis | |
ChChassis (const std::string &name, bool fixed=false) | |
Construct a chassis subsystem with the specified name. More... | |
virtual ChCoordsys | GetLocalDriverCoordsys () const =0 |
Get the local driver position and orientation. More... | |
virtual const ChVector | GetLocalPosRearConnector () const |
Get the location (in the local frame of this chassis) of the connection to a rear chassis. | |
std::shared_ptr< ChBodyAuxRef > | GetBody () const |
Get a handle to the vehicle's chassis body. | |
ChSystem * | GetSystem () const |
Get a pointer to the containing system. | |
const ChVector & | GetPos () const |
Get the global location of the chassis reference frame origin. | |
ChQuaternion | GetRot () const |
Get the orientation of the chassis reference frame. More... | |
ChVector | GetDriverPos () const |
Get the global location of the driver. | |
double | GetSpeed () const |
Get the vehicle speed. More... | |
double | GetCOMSpeed () const |
Get the speed of the chassis COM. More... | |
ChVector | GetPointLocation (const ChVector<> &locpos) const |
Get the global position of the specified point. More... | |
ChVector | GetPointVelocity (const ChVector<> &locpos) const |
Get the global velocity of the specified point. More... | |
ChVector | GetPointAcceleration (const ChVector<> &locpos) const |
Get the acceleration at the specified point. More... | |
void | SetFixed (bool val) |
Set the "fixed to ground" status of the chassis body. | |
bool | IsFixed () const |
Return true if the chassis body is fixed to ground. | |
bool | HasBushings () const |
Return true if the vehicle model contains bushings. | |
void | AddMarker (const std::string &name, const ChCoordsys<> &pos) |
Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More... | |
const std::vector< std::shared_ptr< ChMarker > > & | GetMarkers () const |
void | SetAerodynamicDrag (double Cd, double area, double air_density) |
Set parameters and enable aerodynamic drag force calculation. More... | |
virtual void | Synchronize (double time) |
Update the state of the chassis subsystem. More... | |
void | AddJoint (std::shared_ptr< ChVehicleJoint > joint) |
Utility function to add a joint (kinematic or bushing) to the vehicle system. | |
void | AddExternalForce (std::shared_ptr< ExternalForce > force) |
Utility force to add an external load to the chassis body. | |
virtual void | InitializeInertiaProperties () override |
Initialize subsystem inertia properties. More... | |
virtual void | UpdateInertiaProperties () override |
Update subsystem inertia properties. 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 | 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::ChChassis | |
virtual double | GetBodyMass () const =0 |
virtual ChFrame | GetBodyCOMFrame () const =0 |
virtual ChMatrix33 | GetBodyInertia () const =0 |
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 | |
ChVehicleGeometry | m_geometry |
collection of visualization and collision shapes | |
Protected Attributes inherited from chrono::vehicle::ChChassis | |
std::shared_ptr< ChBodyAuxRef > | m_body |
handle to the chassis body | |
std::shared_ptr< ChLoadContainer > | m_bushings |
load container for vehicle bushings | |
std::shared_ptr< ChLoadContainer > | m_container_forces |
load container for external forces | |
std::vector< std::shared_ptr< ExternalForce > > | m_forces |
external forces | |
std::vector< std::shared_ptr< ChMarker > > | m_markers |
list of user-defined markers | |
bool | m_fixed |
is the chassis body fixed to ground? | |
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::ChChassis | |
static void | RemoveJoint (std::shared_ptr< ChVehicleJoint > joint) |
Utility function to remove a joint (kinematic or bushing) from the vehicle system. | |
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
◆ ChRigidChassis()
chrono::vehicle::ChRigidChassis::ChRigidChassis | ( | const std::string & | name, |
bool | fixed = false |
||
) |
Construct a vehicle subsystem with the specified name.
- Parameters
-
[in] name name of the subsystem [in] fixed is the chassis body fixed to ground?
Member Function Documentation
◆ ExportComponentList()
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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.
◆ GetMeshFilename()
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inline |
Get the name of the Wavefront file with chassis visualization mesh.
An empty string is returned if no mesh was specified.
◆ Initialize()
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overridevirtual |
Initialize the chassis at the specified global position and orientation.
- Parameters
-
[in] system containing system [in] chassisPos absolute chassis position [in] chassisFwdVel initial chassis forward velocity [in] collision_family chassis collision family
Reimplemented from chrono::vehicle::ChChassis.
◆ SetCollide()
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inlineoverridevirtual |
Enable/disable contact for the chassis.
This function controls contact of the chassis with all other collision shapes in the simulation.
Implements chrono::vehicle::ChChassis.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChRigidChassis.h
- /builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChRigidChassis.cpp