Description
Rigid tire model.
This tire is modeled as a rigid cylinder. Requires a terrain system that supports rigid contact with friction.
#include <ChRigidTire.h>
Public Member Functions | |
ChRigidTire (const std::string &name) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
void | SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0) |
Set Wavefront OBJ file for contact mesh. More... | |
bool | UseContactMesh () const |
Check whether or not this tire uses a contact mesh. | |
virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
Report the tire force and moment. More... | |
std::shared_ptr< ChMaterialSurface > | GetContactMaterial () const |
Get the tire contact material. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the rigid tire subsystem. | |
virtual void | RemoveVisualizationAssets () override |
Remove visualization assets for the rigid tire subsystem. | |
std::shared_ptr< geometry::ChTriangleMeshConnected > | GetContactMesh () const |
Get the contact mesh. | |
void | GetMeshVertexStates (std::vector< ChVector<>> &pos, std::vector< ChVector<>> &vel) const |
Get the current state of the collision mesh. More... | |
Public Member Functions inherited from chrono::vehicle::ChTire | |
void | SetStepsize (double val) |
Set the value of the integration step size for the underlying dynamics (if applicable). More... | |
double | GetStepsize () const |
Get the current value of the integration step size. | |
void | SetCollisionType (CollisionType collision_type) |
Set the collision type for tire-terrain interaction. More... | |
virtual double | GetRadius () const =0 |
Get the tire radius. | |
virtual double | GetWidth () const =0 |
Get the tire width. | |
double | GetSlipAngle () const |
Return the tire slip angle calculated based on the current state of the associated wheel body. More... | |
double | GetLongitudinalSlip () const |
Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More... | |
double | GetCamberAngle () const |
Return the tire camber angle calculated based on the current state of the associated wheel body. More... | |
virtual double | GetDeflection () const |
Report the tire deflection. | |
const std::string & | GetMeshFilename () const |
Get the name of the Wavefront file with tire visualization mesh. More... | |
virtual void | Synchronize (double time, const ChTerrain &terrain) |
Update the state of this tire system at the current time. More... | |
virtual void | Advance (double step) |
Advance the state of this tire by the specified time step. | |
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. | |
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. | |
Protected Member Functions | |
virtual void | CreateContactMaterial (ChContactMethod contact_method)=0 |
Create the contact material consistent with the specified contact method. | |
virtual double | GetTireMass () const =0 |
Return the tire mass. | |
virtual ChVector | GetTireInertia () const =0 |
Return the tire moments of inertia (in the tire centroidal frame). | |
virtual void | InitializeInertiaProperties () override final |
Initialize subsystem inertia properties. More... | |
virtual void | UpdateInertiaProperties () override final |
Update subsystem inertia properties. More... | |
virtual double | GetAddedMass () const override final |
Get the mass added to the associated spindle body. More... | |
virtual ChVector | GetAddedInertia () const override final |
Get the inertia added to the associated spindle body. More... | |
virtual TerrainForce | GetTireForce () const override final |
Get the tire force and moment. More... | |
virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
Initialize this tire by associating it to the specified wheel. | |
Protected Member Functions inherited from chrono::vehicle::ChTire | |
ChTire (const std::string &name) | |
Construct a tire subsystem with given name. | |
void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
Calculate kinematics quantities based on the given state of the associated wheel body. More... | |
double | GetOffset () const |
Get offset from spindle center. More... | |
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... | |
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< ChMaterialSurface > | m_material |
contact material; | |
bool | m_use_contact_mesh |
flag indicating use of a contact mesh | |
std::string | m_contact_meshFile |
name of the OBJ file for contact mesh | |
double | m_sweep_sphere_radius |
radius of sweeping sphere for mesh contact | |
std::shared_ptr< geometry::ChTriangleMeshConnected > | m_trimesh |
contact mesh | |
std::shared_ptr< ChCylinderShape > | m_cyl_shape |
visualization cylinder asset | |
Protected Attributes inherited from chrono::vehicle::ChTire | |
std::shared_ptr< ChWheel > | m_wheel |
associated wheel subsystem | |
double | m_stepsize |
tire integration step size (if applicable) | |
CollisionType | m_collision_type |
method used for tire-terrain collision | |
std::string | m_vis_mesh_file |
name of OBJ file for visualization of this tire (may be empty) | |
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 | |
Public Types inherited from chrono::vehicle::ChTire | |
enum | CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE } |
Static Public Member Functions inherited from chrono::vehicle::ChTire | |
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... | |
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::ChTire | |
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... | |
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... | |
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
◆ ChRigidTire()
chrono::vehicle::ChRigidTire::ChRigidTire | ( | const std::string & | name | ) |
- Parameters
-
[in] name name of this tire system
Member Function Documentation
◆ GetAddedInertia()
|
finaloverrideprotectedvirtual |
Get the inertia added to the associated spindle body.
Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body moments of inertia by the amount reported by this function.
Implements chrono::vehicle::ChTire.
◆ GetAddedMass()
|
finaloverrideprotectedvirtual |
Get the mass added to the associated spindle body.
Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body mass by the amount repoirted by this function.
Implements chrono::vehicle::ChTire.
◆ GetContactMaterial()
|
inline |
Get the tire contact material.
Note that this is not set until after tire initialization.
◆ GetMeshVertexStates()
void chrono::vehicle::ChRigidTire::GetMeshVertexStates | ( | std::vector< ChVector<>> & | pos, |
std::vector< ChVector<>> & | vel | ||
) | const |
Get the current state of the collision mesh.
Mesh vertex positions and velocities are returned in the absolute frame.
- Parameters
-
pos mesh vertex positions (expressed in absolute frame) vel mesh vertex velocities (expressed in absolute frame)
◆ GetTireForce()
|
finaloverrideprotectedvirtual |
Get the tire force and moment.
A ChRigidTire always returns zero force and moment since tire forces are automatically applied to the associated wheel through Chrono's frictional contact system.
Implements chrono::vehicle::ChTire.
◆ InitializeInertiaProperties()
|
finaloverrideprotectedvirtual |
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.
◆ ReportTireForce()
|
overridevirtual |
Report the tire force and moment.
This generalized force encapsulates the tire-terrain forces (i.e. the resultant of all contact forces acting on the tire). The force and moment are expressed in global frame, as applied to the center of the associated wheel.
Implements chrono::vehicle::ChTire.
◆ SetMeshFilename()
void chrono::vehicle::ChRigidTire::SetMeshFilename | ( | const std::string & | mesh_file, |
double | sweep_sphere_radius = 0 |
||
) |
Set Wavefront OBJ file for contact mesh.
- Parameters
-
[in] mesh_file name of Wavefront file [in] sweep_sphere_radius radius of sweeping sphere
◆ UpdateInertiaProperties()
|
finaloverrideprotectedvirtual |
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/tire/ChRigidTire.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChRigidTire.cpp