Description

Base class for chrono wheeled vehicle systems.

This class provides the interface between the vehicle system and other systems (tires, driver, etc.). 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 <ChWheeledVehicle.h>

Inheritance diagram for chrono::vehicle::ChWheeledVehicle:

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Collaboration diagram for chrono::vehicle::ChWheeledVehicle:

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Public Member Functions
virtual	~ChWheeledVehicle ()
	Destructor.

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

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

const ChAxleList &	GetAxles () const
	Get all vehicle axle subsystems.

std::shared_ptr< ChAxle >	GetAxle (int id) const
	Get the specified vehicle axle subsystem.

std::shared_ptr< ChSuspension >	GetSuspension (int id) const
	Get the specified suspension subsystem.

const ChSteeringList &	GetSteerings () const
	Get all vehicle steering subsystems.

std::shared_ptr< ChSteering >	GetSteering (int id) const
	Get the specified steering subsystem.

std::shared_ptr< ChWheel >	GetWheel (int axle, VehicleSide side, WheelLocation location=SINGLE) const
	Get the specified vehicle wheel, by specifying the axle, side, and wheel location. More...

std::shared_ptr< ChTire >	GetTire (int axle, VehicleSide side, WheelLocation location=SINGLE) const
	Get the specified vehicle tire, by specifying the axle, side, and wheel location. More...

std::shared_ptr< ChBrake >	GetBrake (int axle, VehicleSide side) const
	Get the specified vehicle brake, by specifying the axle and side. More...

std::shared_ptr< ChDrivelineWV >	GetDriveline () const
	Get a handle to the vehicle's driveline subsystem.

std::shared_ptr< ChSubchassis >	GetSubchassis (int id) const
	Get the subchassis system (if none present, returns an empty pointer).

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

virtual int	GetNumberAxles () const =0
	Return the number of axles for this vehicle.

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

ChQuaternion	GetSpindleRot (int axle, VehicleSide side) const
	Get the orientation of the specified spindle. More...

const ChVector &	GetSpindleLinVel (int axle, VehicleSide side) const
	Get the linear velocity of the specified spindle. More...

ChVector	GetSpindleAngVel (int axle, VehicleSide side) const
	Get the angular velocity of the specified spindle. More...

double	GetSpindleOmega (int axle, VehicleSide side) const
	Get the angular speed of the specified spindle. More...

virtual double	GetWheelbase () const =0
	Return the vehicle wheelbase.

double	GetWheeltrack (int id) const
	Return the vehicle wheel track of the specified suspension subsystem.

virtual double	GetMinTurningRadius () const
	Return the minimum turning radius. More...

virtual double	GetMaxSteeringAngle () const
	Return the maximum steering angle. More...

void	SetSubchassisVisualizationType (VisualizationType vis)
	Set visualization mode for the sub-chassis subsystems.

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystems. More...

void	SetSteeringVisualizationType (VisualizationType vis)
	Set visualization type for the steering subsystems. More...

void	SetWheelVisualizationType (VisualizationType vis)
	Set visualization type for the wheel subsystems. More...

void	SetTireVisualizationType (VisualizationType vis)
	Set visualization type for the tire subsystems. More...

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

void	SetSuspensionOutput (int id, bool state)
	Enable/disable output from the suspension subsystems. More...

void	SetSteeringOutput (int id, bool state)
	Enable/disable output from the steering subsystems. More...

void	SetSubchassisOutput (int id, bool state)
	Enable/disable output from the subchassis subsystems. More...

void	SetAntirollbarOutput (int id, bool state)
	Enable/disable output from the anti-roll bar subsystems. More...

void	SetDrivelineOutput (bool state)
	Enable/disable output from the driveline subsystem. More...

void	InitializeTire (std::shared_ptr< ChTire > tire, std::shared_ptr< ChWheel > wheel, VisualizationType tire_vis=VisualizationType::PRIMITIVES, ChTire::CollisionType tire_coll=ChTire::CollisionType::SINGLE_POINT)
	Initialize the given tire and attach it to the specified wheel. More...

void	InitializePowertrain (std::shared_ptr< ChPowertrain > powertrain)
	Initialize the given powertrain system and associate it to this vehicle. More...

virtual void	InitializeInertiaProperties () override final
	Calculate total vehicle mass. More...

virtual void	Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain)
	Update the state of this vehicle at the current time. More...

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

void	LockAxleDifferential (int axle, bool lock)
	Lock/unlock the differential on the specified axle. More...

void	LockCentralDifferential (int which, bool lock)
	Lock/unlock the specified central differential. More...

void	EnableBrakeLocking (bool lock)
	Enable/disable brake locking. More...

void	ApplyParkingBrake (bool lock)
	Engage/disengage parking brake. More...

bool	ParkingBrake () const
	Returns the state of the parking brake (true if enagaged, false otherwise).

void	DisconnectDriveline ()
	Disconnect driveline. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

void	LogSubsystemTypes ()
	Log the types (template names) of current vehicle subsystems.

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

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

Public Member Functions inherited from chrono::vehicle::ChVehicle
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.

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.

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...

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...

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...

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

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

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

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

virtual void	UpdateInertiaProperties () override final
	Calculate current vehicle inertia properties. More...

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

Protected Member Functions inherited from chrono::vehicle::ChVehicle
	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.

Protected Attributes
ChSubchassisList	m_subchassis
	list of subchassis subsystems (typically empty)

ChAxleList	m_axles
	list of axle subsystems

ChSteeringList	m_steerings
	list of steering subsystems

std::shared_ptr< ChDrivelineWV >	m_driveline
	driveline subsystem

std::shared_ptr< ChPowertrain >	m_powertrain
	associated powertrain system

bool	m_parking_on
	indicates whether or not parking brake is engaged

Protected Attributes inherited from chrono::vehicle::ChVehicle
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)

Additional Inherited Members
Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
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.

Constructor & Destructor Documentation

◆ ChWheeledVehicle() [1/2]

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

protected

Construct a vehicle system with a default ChSystem.

Parameters

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

◆ ChWheeledVehicle() [2/2]

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

protected

Construct a vehicle system using the specified ChSystem.

Parameters

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

Member Function Documentation

◆ Advance()

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

finaloverridevirtual

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

In addition to advancing the state of the multibody system (if the vehicle owns the underlying system), this function also advances the state of the associated powertrain and the states of all associated tires.

Reimplemented from chrono::vehicle::ChVehicle.

◆ ApplyParkingBrake()

void chrono::vehicle::ChWheeledVehicle::ApplyParkingBrake ( bool lock )

Engage/disengage parking brake.

If engaged and supported by the concrete brake type on this vehicle, this locks all vehicle brakes.

◆ DisconnectDriveline()

void chrono::vehicle::ChWheeledVehicle::DisconnectDriveline ( )

Disconnect driveline.

This function has no effect if called before vehicle initialization.

◆ EnableBrakeLocking()

void chrono::vehicle::ChWheeledVehicle::EnableBrakeLocking ( bool lock )

Enable/disable brake locking.

If supported by the concrete brake type used on this vehicle, the brakes will be locked for large enough braking inputs. By default, brakes do not lock.

◆ ExportComponentList() [1/2]

std::string chrono::vehicle::ChWheeledVehicle::ExportComponentList ( ) const

overridevirtual

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

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

Implements chrono::vehicle::ChVehicle.

◆ ExportComponentList() [2/2]

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

overridevirtual

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.

Implements chrono::vehicle::ChVehicle.

◆ GetBrake()

std::shared_ptr< ChBrake > chrono::vehicle::ChWheeledVehicle::GetBrake	(	int	axle,
		VehicleSide	side
	)		const

Get the specified vehicle brake, by specifying the axle and side.

Axles are assumed to be indexed starting from the front of the vehicle.

◆ GetMaxSteeringAngle()

double chrono::vehicle::ChWheeledVehicle::GetMaxSteeringAngle ( ) const

virtual

Return the maximum steering angle.

This default implementation estimates the maximum steering angle based on a bicycle model and the vehicle minimum turning radius.

◆ GetMinTurningRadius()

virtual double chrono::vehicle::ChWheeledVehicle::GetMinTurningRadius ( ) const

inlinevirtual

Return the minimum turning radius.

A concrete wheeled vehicle class should override the default value (20 m).

◆ GetSpindleAngVel()

ChVector chrono::vehicle::ChWheeledVehicle::GetSpindleAngVel	(	int	axle,
		VehicleSide	side
	)		const

Get the angular velocity of the specified spindle.

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

◆ GetSpindleLinVel()

const ChVector & chrono::vehicle::ChWheeledVehicle::GetSpindleLinVel	(	int	axle,
		VehicleSide	side
	)		const

Get the linear velocity of the specified spindle.

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

◆ GetSpindleOmega()

double chrono::vehicle::ChWheeledVehicle::GetSpindleOmega	(	int	axle,
		VehicleSide	side
	)		const

Get the angular speed of the specified spindle.

This is the angular speed of the spindle shaft.

◆ GetSpindleRot()

ChQuaternion chrono::vehicle::ChWheeledVehicle::GetSpindleRot	(	int	axle,
		VehicleSide	side
	)		const

Get the orientation of the specified spindle.

Return a quaternion representing a rotation with respect to the global reference frame.

◆ GetTire()

std::shared_ptr< ChTire > chrono::vehicle::ChWheeledVehicle::GetTire	(	int	axle,
		VehicleSide	side,
		WheelLocation	location = `SINGLE`
	)		const

Get the specified vehicle tire, by specifying the axle, side, and wheel location.

Axles are assumed to be indexed starting from the front of the vehicle. On each axle, wheels are assumed to be ordered from inner to outer wheels, first left then right: for a single-wheel axle the order is left wheel, right wheel; for a double-wheel axle, the order is inner left, inner right, outer left, outer right.

◆ GetWheel()

std::shared_ptr< ChWheel > chrono::vehicle::ChWheeledVehicle::GetWheel	(	int	axle,
		VehicleSide	side,
		WheelLocation	location = `SINGLE`
	)		const

Get the specified vehicle wheel, by specifying the axle, side, and wheel location.

Axles are assumed to be indexed starting from the front of the vehicle. On each axle, wheels are assumed to be ordered from inner to outer wheels, first left then right: for a single-wheel axle the order is left wheel, right wheel; for a double-wheel axle, the order is inner left, inner right, outer left, outer right.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChWheeledVehicle::InitializeInertiaProperties ( )

finaloverridevirtual

Calculate total vehicle mass.

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

Implements chrono::vehicle::ChVehicle.

◆ InitializePowertrain()

void chrono::vehicle::ChWheeledVehicle::InitializePowertrain ( std::shared_ptr< ChPowertrain > powertrain )

Initialize the given powertrain system and associate it to this vehicle.

The powertrain is initialized by connecting it to this vehicle's chassis and driveline shaft.

◆ InitializeTire()

void chrono::vehicle::ChWheeledVehicle::InitializeTire	(	std::shared_ptr< ChTire >	tire,
		std::shared_ptr< ChWheel >	wheel,
		VisualizationType	tire_vis = `VisualizationType::PRIMITIVES`,
		ChTire::CollisionType	tire_coll = `ChTire::CollisionType::SINGLE_POINT`
	)

Initialize the given tire and attach it to the specified wheel.

Optionally, specify tire visualization mode and tire-terrain collision detection method. This function should be called only after vehicle initialization.

◆ LockAxleDifferential()

void chrono::vehicle::ChWheeledVehicle::LockAxleDifferential	(	int	axle,
		bool	lock
	)

Lock/unlock the differential on the specified axle.

By convention, axles are counted front to back, starting with index 0.

◆ LockCentralDifferential()

void chrono::vehicle::ChWheeledVehicle::LockCentralDifferential	(	int	which,
		bool	lock
	)

Lock/unlock the specified central differential.

By convention, central differentials are counted from front to back, starting with index 0 for the central differential between the two front-most axles.

◆ SetAntirollbarOutput()

void chrono::vehicle::ChWheeledVehicle::SetAntirollbarOutput	(	int	id,
		bool	state
	)

Enable/disable output from the anti-roll bar subsystems.

See also ChVehicle::SetOuput.

◆ SetChassisVehicleCollide()

void chrono::vehicle::ChWheeledVehicle::SetChassisVehicleCollide ( bool state )

overridevirtual

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

This only controls collisions between the chassis and the tire systems.

Reimplemented from chrono::vehicle::ChVehicle.

◆ SetDrivelineOutput()

void chrono::vehicle::ChWheeledVehicle::SetDrivelineOutput ( bool state )

Enable/disable output from the driveline subsystem.

See also ChVehicle::SetOuput.

◆ SetSteeringOutput()

void chrono::vehicle::ChWheeledVehicle::SetSteeringOutput	(	int	id,
		bool	state
	)

Enable/disable output from the steering subsystems.

See also ChVehicle::SetOuput.

◆ SetSteeringVisualizationType()

void chrono::vehicle::ChWheeledVehicle::SetSteeringVisualizationType ( VisualizationType vis )

Set visualization type for the steering subsystems.

This function should be called only after vehicle initialization.

◆ SetSubchassisOutput()

void chrono::vehicle::ChWheeledVehicle::SetSubchassisOutput	(	int	id,
		bool	state
	)

Enable/disable output from the subchassis subsystems.

See also ChVehicle::SetOuput.

◆ SetSuspensionOutput()

void chrono::vehicle::ChWheeledVehicle::SetSuspensionOutput	(	int	id,
		bool	state
	)

Enable/disable output from the suspension subsystems.

See also ChVehicle::SetOuput.

◆ SetSuspensionVisualizationType()

void chrono::vehicle::ChWheeledVehicle::SetSuspensionVisualizationType ( VisualizationType vis )

Set visualization type for the suspension subsystems.

This function should be called only after vehicle initialization.

◆ SetTireVisualizationType()

void chrono::vehicle::ChWheeledVehicle::SetTireVisualizationType ( VisualizationType vis )

Set visualization type for the tire subsystems.

This function should be called only after vehicle and tire initialization.

◆ SetWheelVisualizationType()

void chrono::vehicle::ChWheeledVehicle::SetWheelVisualizationType ( VisualizationType vis )

Set visualization type for the wheel subsystems.

This function should be called only after vehicle initialization.

◆ Synchronize()

void chrono::vehicle::ChWheeledVehicle::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs,
		const ChTerrain &	terrain
	)

virtual

Update the state of this vehicle at the current time.

The vehicle system is provided the current driver inputs (throttle between 0 and 1, steering between -1 and +1, braking between 0 and 1), and a reference to the terrain system.

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs
[in]	terrain	reference to the terrain system

◆ UpdateInertiaProperties()

void chrono::vehicle::ChWheeledVehicle::UpdateInertiaProperties ( )

finaloverrideprotectedvirtual

Calculate current vehicle inertia properties.

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

Implements chrono::vehicle::ChVehicle.

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

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChWheeledVehicle() [1/2]

◆ ChWheeledVehicle() [2/2]

Member Function Documentation

◆ Advance()

◆ ApplyParkingBrake()

◆ DisconnectDriveline()

◆ EnableBrakeLocking()

◆ ExportComponentList() [1/2]

◆ ExportComponentList() [2/2]

◆ GetBrake()

◆ GetMaxSteeringAngle()

◆ GetMinTurningRadius()

◆ GetSpindleAngVel()

◆ GetSpindleLinVel()

◆ GetSpindleOmega()

◆ GetSpindleRot()

◆ GetTire()

◆ GetWheel()

◆ InitializeInertiaProperties()

◆ InitializePowertrain()

◆ InitializeTire()

◆ LockAxleDifferential()

◆ LockCentralDifferential()

◆ SetAntirollbarOutput()

◆ SetChassisVehicleCollide()

◆ SetDrivelineOutput()

◆ SetSteeringOutput()

◆ SetSteeringVisualizationType()

◆ SetSubchassisOutput()

◆ SetSuspensionOutput()

◆ SetSuspensionVisualizationType()

◆ SetTireVisualizationType()

◆ SetWheelVisualizationType()

◆ Synchronize()

◆ UpdateInertiaProperties()