Description
Concrete class for a flat horizontal terrain.
This class implements a terrain modeled as an infinite horizontal plane at a specified height. This type of terrain can be used in conjunction with tire models that perform their own collision detection (e.g., ChTMeasy ChPac89, ChPac02, ChFiala).
#include <FlatTerrain.h>
Public Member Functions | |
FlatTerrain (double height, float friction=0.8f) | |
virtual double | GetHeight (const ChVector<> &loc) const override |
Get the terrain height below the specified location. More... | |
virtual ChVector | GetNormal (const ChVector<> &loc) const override |
Get the terrain normal at the point below the specified location. More... | |
virtual float | GetCoefficientFriction (const ChVector<> &loc) const override |
Get the terrain coefficient of friction at the point below the specified location. More... | |
Public Member Functions inherited from chrono::vehicle::ChTerrain | |
virtual void | Synchronize (double time) |
Update the state of the terrain system at the specified time. | |
virtual void | Advance (double step) |
Advance the state of the terrain system by the specified duration. | |
virtual void | GetProperties (const ChVector<> &loc, double &height, ChVector<> &normal, float &friction) const |
Get all terrain characteristics at the point below the specified location. | |
void | RegisterHeightFunctor (std::shared_ptr< HeightFunctor > functor) |
Specify the functor object to provide the terrain height at given locations. More... | |
void | RegisterNormalFunctor (std::shared_ptr< NormalFunctor > functor) |
Specify the functor object to provide the terrain normal at given locations. More... | |
void | RegisterFrictionFunctor (std::shared_ptr< FrictionFunctor > functor) |
Specify the functor object to provide the coefficient of friction at given locations. | |
Additional Inherited Members | |
Protected Attributes inherited from chrono::vehicle::ChTerrain | |
std::shared_ptr< HeightFunctor > | m_height_fun |
functor for location-dependent terrain height | |
std::shared_ptr< NormalFunctor > | m_normal_fun |
functor for location-dependent terrain normal | |
std::shared_ptr< FrictionFunctor > | m_friction_fun |
functor for location-dependent coefficient of friction | |
Constructor & Destructor Documentation
◆ FlatTerrain()
chrono::vehicle::FlatTerrain::FlatTerrain | ( | double | height, |
float | friction = 0.8f |
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- Parameters
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[in] height terrain height [in] friction terrain coefficient of friction
Member Function Documentation
◆ GetCoefficientFriction()
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overridevirtual |
Get the terrain coefficient of friction at the point below the specified location.
This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For FlatTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified at construction.
Reimplemented from chrono::vehicle::ChTerrain.
◆ GetHeight()
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overridevirtual |
Get the terrain height below the specified location.
Returns the constant value passed at construction.
Reimplemented from chrono::vehicle::ChTerrain.
◆ GetNormal()
Get the terrain normal at the point below the specified location.
Returns a constant unit vector along the vertical axis.
Reimplemented from chrono::vehicle::ChTerrain.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/terrain/FlatTerrain.h
- /builds/uwsbel/chrono/src/chrono_vehicle/terrain/FlatTerrain.cpp