Description

Base class for a suspension subsystem.

#include <ChSuspension.h>

Inheritance diagram for chrono::vehicle::ChSuspension:

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Collaboration diagram for chrono::vehicle::ChSuspension:

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Public Member Functions
virtual bool	IsSteerable () const =0
	Specify whether or not this suspension can be steered.

virtual bool	IsIndependent () const =0
	Specify whether or not this is an independent suspension.

const ChVector &	GetRelPosition () const
	Get the location of the suspension subsystem relative to the associated chassis reference frame. More...

std::shared_ptr< ChBody >	GetSpindle (VehicleSide side) const
	Get a handle to the spindle body on the specified side.

std::shared_ptr< ChShaft >	GetAxle (VehicleSide side) const
	Get a handle to the axle shaft on the specified side.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute (VehicleSide side) const
	Get a handle to the revolute joint on the specified side.

const ChVector &	GetSpindlePos (VehicleSide side) const
	Get the global location of the spindle on the specified side.

ChQuaternion	GetSpindleRot (VehicleSide side) const
	Get the orientation of the spindle body on the specified side. More...

const ChVector &	GetSpindleLinVel (VehicleSide side) const
	Get the linear velocity of the spindle body on the specified side. More...

ChVector	GetSpindleAngVel (VehicleSide side) const
	Get the angular velocity of the spindle body on the specified side. More...

double	GetAxleSpeed (VehicleSide side) const
	Get the angular speed of the axle on the specified side.

void	Synchronize ()
	Synchronize this suspension subsystem. More...

void	ApplyAxleTorque (VehicleSide side, double torque)
	Apply the provided motor torque. More...

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0)=0
	Initialize this suspension subsystem. More...

virtual double	getSpindleRadius () const =0
	Return the radius of the spindle body (visualization only).

virtual double	getSpindleWidth () const =0
	Return the width of the spindle body (visualization only).

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

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

virtual std::shared_ptr< ChBody >	GetAntirollBody (VehicleSide side) const
	Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...

virtual std::shared_ptr< ChBody >	GetBrakeBody (VehicleSide side) const
	Specify the body on the specified side for a possible connection to brake subsystem. More...

virtual double	GetTrack ()=0
	Get the wheel track for the suspension subsystem.

virtual Force	ReportSuspensionForce (VehicleSide side) const =0
	Return current suspension forces (spring and shock) on the specified side. More...

virtual void	LogConstraintViolations (VehicleSide side)
	Log current constraint violations.

void	ApplyParkingBrake (bool brake)
	Simple model of a parking brake.

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.

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	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
	ChSuspension (const std::string &name)
	Construct a suspension 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.

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...

Protected Attributes
ChVector	m_rel_loc
	location relative to chassis

std::shared_ptr< ChBody >	m_spindle [2]
	handles to spindle bodies

std::shared_ptr< ChShaft >	m_axle [2]
	handles to axle shafts

std::shared_ptr< ChShaftsBody >	m_axle_to_spindle [2]
	handles to spindle-shaft connectors

std::shared_ptr< ChLinkLockRevolute >	m_revolute [2]
	handles to spindle revolute joints

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 Function Documentation

◆ AddVisualizationAssets()

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

overridevirtual

Add visualization assets for the suspension subsystem.

This default implementation uses primitives for spindle visualization.

Reimplemented from chrono::vehicle::ChPart.

◆ ApplyAxleTorque()

void chrono::vehicle::ChSuspension::ApplyAxleTorque	(	VehicleSide	side,
		double	torque
	)

Apply the provided motor torque.

The given torque is applied to the specified (left or right) axle. This function provides the interface to the drivetrain subsystem (intermediated by the vehicle system).

Parameters

side	indicates the axle (left or right) where the torque should be applied
torque	value of applied torque

◆ GetAntirollBody()

virtual std::shared_ptr<ChBody> chrono::vehicle::ChSuspension::GetAntirollBody ( VehicleSide side ) const

inlinevirtual

Specify the suspension body on the specified side to attach a possible antirollbar subsystem.

The default implementation returns a NULL pointer.

Reimplemented in chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChSemiTrailingArm, chrono::vehicle::ChMultiLink, chrono::vehicle::ChSingleWishbone, and chrono::vehicle::ChDoubleWishboneReduced.

◆ GetBrakeBody()

virtual std::shared_ptr<ChBody> chrono::vehicle::ChSuspension::GetBrakeBody ( VehicleSide side ) const

inlinevirtual

Specify the body on the specified side for a possible connection to brake subsystem.

The default implementation returns a NULL pointer (indicating that a brake should connect to the chassis).

◆ GetRelPosition()

const ChVector& chrono::vehicle::ChSuspension::GetRelPosition ( ) const

inline

Get the location of the suspension subsystem relative to the associated chassis reference frame.

The suspension reference frame is always aligned with the chassis reference frame.

◆ GetSpindleAngVel()

ChVector chrono::vehicle::ChSuspension::GetSpindleAngVel ( VehicleSide side ) const

inline

Get the angular velocity of the spindle body on the specified side.

Return the angular velocity of the spindle frame, expressed in the global reference frame.

◆ GetSpindleLinVel()

const ChVector& chrono::vehicle::ChSuspension::GetSpindleLinVel ( VehicleSide side ) const

inline

Get the linear velocity of the spindle body on the specified side.

Return the linear velocity of the spindle center, expressed in the global reference frame.

◆ GetSpindleRot()

ChQuaternion chrono::vehicle::ChSuspension::GetSpindleRot ( VehicleSide side ) const

Get the orientation of the spindle body on the specified side.

The spindle body orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

◆ Initialize()

virtual void chrono::vehicle::ChSuspension::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChSubchassis >	subchassis,
		std::shared_ptr< ChSteering >	steering,
		const ChVector<> &	location,
		double	left_ang_vel = `0`,
		double	right_ang_vel = `0`
	)

pure virtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. If a steering subsystem is provided, the suspension tierods are to be attached to the steering's central link body (steered suspension); otherwise they are to be attached to the chassis (non-steered suspension).

Parameters

[in]	chassis	associated chassis subsystem
[in]	subchassis	associated subchassis subsystem (may be null)
[in]	steering	associated steering subsystem (may be null)
[in]	location	location relative to the chassis frame
[in]	left_ang_vel	initial angular velocity of left wheel
[in]	right_ang_vel	initial angular velocity of right wheel

◆ ReportSuspensionForce()

virtual Force chrono::vehicle::ChSuspension::ReportSuspensionForce ( VehicleSide side ) const

pure virtual

Return current suspension forces (spring and shock) on the specified side.

Different derived types (suspension templates) may load different quantities in the output struct.

Implemented in chrono::vehicle::ChSAELeafspringAxle, chrono::vehicle::ChToeBarLeafspringAxle, chrono::vehicle::ChLeafspringAxle, chrono::vehicle::ChSolidBellcrankThreeLinkAxle, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChSolidThreeLinkAxle, chrono::vehicle::ChRigidPinnedAxle, chrono::vehicle::ChSolidAxle, chrono::vehicle::ChDoubleWishboneReduced, chrono::vehicle::ChSemiTrailingArm, chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChMultiLink, chrono::vehicle::ChSingleWishbone, chrono::vehicle::ChHendricksonPRIMAXX, and chrono::vehicle::ChRigidSuspension.

◆ Synchronize()

void chrono::vehicle::ChSuspension::Synchronize ( )

Synchronize this suspension subsystem.

This function must be called before synchronizing any wheels associated with this suspension.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSuspension.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChSuspension.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddVisualizationAssets()

◆ ApplyAxleTorque()

◆ GetAntirollBody()

◆ GetBrakeBody()

◆ GetRelPosition()

◆ GetSpindleAngVel()

◆ GetSpindleLinVel()

◆ GetSpindleRot()

◆ Initialize()

◆ ReportSuspensionForce()

◆ Synchronize()