Description

Base class for chrono vehicle systems.

The reference frame for a vehicle follows the ISO standard: Z-axis up, X-axis pointing forward, and Y-axis towards the left of the vehicle.

#include <ChVehicle.h>

Inheritance diagram for chrono::vehicle::ChVehicle:

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Collaboration diagram for chrono::vehicle::ChVehicle:

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Public Member Functions
virtual	~ChVehicle ()
	Destructor.

const std::string &	GetName () const
	Get the name identifier for this vehicle.

void	SetName (const std::string &name)
	Set the name identifier for this vehicle.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle system template.

ChSystem *	GetSystem ()
	Get a pointer to the Chrono ChSystem.

double	GetChTime () const
	Get the current simulation time of the underlying ChSystem.

std::shared_ptr< ChChassis >	GetChassis () const
	Get a handle to the vehicle's main chassis subsystem.

std::shared_ptr< ChChassisRear >	GetChassisRear (int id) const
	Get the specified specified rear chassis subsystem.

std::shared_ptr< ChChassisConnector >	GetChassisConnector (int id) const
	Get a handle to the specified chassis connector.

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const
	Get a handle to the vehicle's chassis body.

std::shared_ptr< ChBodyAuxRef >	GetChassisRearBody (int id) const
	Get a handle to the specified rear chassis body.

virtual std::shared_ptr< ChPowertrain >	GetPowertrain () const
	Get the powertrain attached to this vehicle.

double	GetMass () const
	Get the vehicle total mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current vehicle inertia (relative to the vehicle COM frame).

const ChFrame &	GetTransform () const
	Get the current vehicle transform relative to the global frame. More...

const ChVector &	GetPos () const
	Get the vehicle global location. More...

ChQuaternion	GetRot () const
	Get the vehicle orientation. More...

double	GetSpeed () const
	Get the vehicle speed. 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...

virtual std::shared_ptr< ChShaft >	GetDriveshaft () const =0
	Get a handle to the vehicle's driveshaft body.

ChVector	GetDriverPos () const
	Get the global location of the driver.

void	EnableRealtime (bool val)
	Enable/disable soft real-time (default: false). More...

double	GetRTF () const
	Get current estimated RTF (real time factor). More...

void	SetCollisionSystemType (collision::ChCollisionSystemType collsys_type)
	Change the default collision detection system. More...

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system. More...

virtual void	Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0)
	Initialize this vehicle at the specified global location and orientation. More...

virtual void	InitializeInertiaProperties ()=0
	Calculate total vehicle mass from subsystems. More...

void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem.

void	SetChassisRearVisualizationType (VisualizationType vis)
	Set visualization mode for the rear chassis subsystems.

void	SetChassisCollide (bool state)
	Enable/disable collision for the chassis subsystem. More...

virtual void	SetChassisVehicleCollide (bool state)
	Enable/disable collision between the chassis and all other vehicle subsystems. More...

void	SetChassisOutput (bool state)
	Enable/disable output from the chassis subsystem.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

virtual void	Advance (double step)
	Advance the state of this vehicle by the specified time step. More...

virtual void	LogConstraintViolations ()=0
	Log current constraint violations.

virtual std::string	ExportComponentList () const =0
	Return a JSON string with information on all modeling components in the vehicle system. More...

virtual void	ExportComponentList (const std::string &filename) const =0
	Write a JSON-format file with information on all modeling components in the vehicle system. More...

virtual void	Output (int frame, ChVehicleOutput &database) const =0
	Output data for all modeling components in the vehicle system.

Protected Member Functions
	ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with an underlying ChSystem. More...

	ChVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

void	SetSystem (ChSystem *sys)
	Set the associated Chrono system.

virtual void	UpdateInertiaProperties ()=0
	Calculate current vehicle inertia properties from subsystems. More...

Static Protected Member Functions
template<typename T >
static bool	AnyOutput (const std::vector< std::shared_ptr< T >> &list)
	Utility function for testing if any subsystem in a list generates output.

Protected Attributes
std::string	m_name
	vehicle name

ChSystem *	m_system
	pointer to the Chrono system

bool	m_ownsSystem
	true if system created at construction

double	m_mass
	total vehicle mass

ChFrame	m_com
	current vehicle COM (relative to the vehicle reference frame)

ChMatrix33	m_inertia
	current total vehicle inertia (Relative to the vehicle COM frame)

bool	m_output
	generate ouput for this vehicle system

ChVehicleOutput *	m_output_db
	vehicle output database

double	m_output_step
	output time step

double	m_next_output_time
	time for next output

int	m_output_frame
	current output frame

std::shared_ptr< ChChassis >	m_chassis
	handle to the main chassis subsystem

ChChassisRearList	m_chassis_rear
	list of rear chassis subsystems (can be empty)

ChChassisConnectorList	m_chassis_connectors
	list of chassis connector (must match m_chassis_rear)

Friends
class	ChVehicleCosimWheeledVehicleNode

class	ChVehicleCosimTrackedVehicleNode

Constructor & Destructor Documentation

◆ ChVehicle() [1/2]

chrono::vehicle::ChVehicle::ChVehicle	(	const std::string &	name,
		ChContactMethod	contact_method = `ChContactMethod::NSC`
	)

protected

Construct a vehicle system with an underlying ChSystem.

Parameters

[in]	name	vehicle name
[in]	contact_method	contact method

◆ ChVehicle() [2/2]

chrono::vehicle::ChVehicle::ChVehicle	(	const std::string &	name,
		ChSystem *	system
	)

protected

Construct a vehicle system using the specified ChSystem.

All physical components of the vehicle will be added to that system.

Parameters

[in]	name	vehicle name
[in]	system	containing mechanical system

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChVehicle::Advance ( double step )

virtual

Advance the state of this vehicle by the specified time step.

A call to ChSystem::DoStepDynamics is done only if the vehicle owns the underlying Chrono system. Otherwise, the caller is responsible for advancing the sate of the entire system.

Reimplemented in chrono::vehicle::ChWheeledVehicle, chrono::vehicle::ChTrackedVehicle, and chrono::vehicle::ChTrackTestRig.

◆ EnableRealtime()

void chrono::vehicle::ChVehicle::EnableRealtime ( bool val )

inline

Enable/disable soft real-time (default: false).

If enabled, a spinning timer is used to maintain simulation time in sync with real time (if simulation is faster).

◆ ExportComponentList() [1/2]

virtual std::string chrono::vehicle::ChVehicle::ExportComponentList ( ) const

pure virtual

Return a JSON string with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ ExportComponentList() [2/2]

virtual void chrono::vehicle::ChVehicle::ExportComponentList ( const std::string & filename ) const

pure virtual

Write a JSON-format file with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ GetCOMFrame()

const ChFrame& chrono::vehicle::ChVehicle::GetCOMFrame ( ) const

inline

Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame).

This is a frame aligned with the vehicle reference frame and origin at the current vehicle COM.

◆ GetMass()

double chrono::vehicle::ChVehicle::GetMass ( ) const

inline

Get the vehicle total mass.

This includes the mass of the chassis and all vehicle subsystems.

◆ GetPointAcceleration()

ChVector chrono::vehicle::ChVehicle::GetPointAcceleration ( const ChVector<> & locpos ) const

inline

Get the acceleration at the specified point.

The point is assumed to be given relative to the main chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

◆ GetPointLocation()

ChVector chrono::vehicle::ChVehicle::GetPointLocation ( const ChVector<> & locpos ) const

inline

Get the global position of the specified point.

The point is assumed to be given relative to the main chassis reference frame. The returned location is expressed in the global reference frame.

◆ GetPointVelocity()

ChVector chrono::vehicle::ChVehicle::GetPointVelocity ( const ChVector<> & locpos ) const

inline

Get the global velocity of the specified point.

The point is assumed to be given relative to the main chassis reference frame. The returned velocity is expressed in the global reference frame.

◆ GetPos()

const ChVector& chrono::vehicle::ChVehicle::GetPos ( ) const

inline

Get the vehicle global location.

This is the global location of the main chassis reference frame origin.

◆ GetRot()

ChQuaternion chrono::vehicle::ChVehicle::GetRot ( ) const

inline

Get the vehicle orientation.

This is the main chassis orientation, returned as a quaternion representing a rotation with respect to the global reference frame.

◆ GetRTF()

double chrono::vehicle::ChVehicle::GetRTF ( ) const

inline

Get current estimated RTF (real time factor).

Note that the "true" RTF is returned, even if soft real-time is enforced.

◆ GetSpeed()

double chrono::vehicle::ChVehicle::GetSpeed ( ) const

inline

Get the vehicle speed.

Return the speed measured at the origin of the main chassis reference frame.

◆ GetTransform()

const ChFrame& chrono::vehicle::ChVehicle::GetTransform ( ) const

inline

Get the current vehicle transform relative to the global frame.

This is the same as the global transform of the main chassis.

◆ Initialize()

void chrono::vehicle::ChVehicle::Initialize	(	const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel = `0`
	)

virtual

Initialize this vehicle at the specified global location and orientation.

Derived classes must invoke this base class implementation after they initialize all their subsystem.

Parameters

[in]	chassisPos	initial global position and orientation
[in]	chassisFwdVel	initial chassis forward velocity

◆ InitializeInertiaProperties()

virtual void chrono::vehicle::ChVehicle::InitializeInertiaProperties ( )

pure virtual

Calculate total vehicle mass from subsystems.

This function is called at the end of the vehicle initialization, but can also be called explicitly.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ SetChassisCollide()

void chrono::vehicle::ChVehicle::SetChassisCollide ( bool state )

Enable/disable collision for the chassis subsystem.

This function controls contact of the chassis with all other collision shapes in the simulation.

◆ SetChassisVehicleCollide()

virtual void chrono::vehicle::ChVehicle::SetChassisVehicleCollide ( bool state )

inlinevirtual

Enable/disable collision between the chassis and all other vehicle subsystems.

Note that some of these collisions may be always disabled, as set by the particular derived vehicle class.

Reimplemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ SetCollisionSystemType()

void chrono::vehicle::ChVehicle::SetCollisionSystemType ( collision::ChCollisionSystemType collsys_type )

Change the default collision detection system.

Note that this function should be called before initialization of the vehicle system in order to create consistent collision models.

◆ SetOutput()

void chrono::vehicle::ChVehicle::SetOutput	(	ChVehicleOutput::Type	type,
		const std::string &	out_dir,
		const std::string &	out_name,
		double	output_step
	)

Enable output for this vehicle system.

Parameters

[in]	type	type of output DB
[in]	out_dir	output directory name
[in]	out_name	rootname of output file
[in]	output_step	interval between output times

◆ UpdateInertiaProperties()

virtual void chrono::vehicle::ChVehicle::UpdateInertiaProperties ( )

protectedpure virtual

Calculate current vehicle inertia properties from subsystems.

This function is called at the end of each vehicle state advance.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

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

/builds/uwsbel/chrono/src/chrono_vehicle/ChVehicle.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChVehicle.cpp

Description

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ ChVehicle() [1/2]

◆ ChVehicle() [2/2]

Member Function Documentation

◆ Advance()

◆ EnableRealtime()

◆ ExportComponentList() [1/2]

◆ ExportComponentList() [2/2]

◆ GetCOMFrame()

◆ GetMass()

◆ GetPointAcceleration()

◆ GetPointLocation()

◆ GetPointVelocity()

◆ GetPos()

◆ GetRot()

◆ GetRTF()

◆ GetSpeed()

◆ GetTransform()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ SetChassisCollide()

◆ SetChassisVehicleCollide()

◆ SetCollisionSystemType()

◆ SetOutput()

◆ UpdateInertiaProperties()