chrono::vehicle::RigidChassis Class Reference
Description
Vehicle rigid chassis model constructed with data from file (JSON format).
#include <RigidChassis.h>
Inheritance diagram for chrono::vehicle::RigidChassis:
Collaboration diagram for chrono::vehicle::RigidChassis:
Public Member Functions | |
| RigidChassis (const std::string &filename) | |
| RigidChassis (const rapidjson::Document &d) | |
| virtual const ChVector | GetLocalPosRearConnector () const override |
| Get the location (in the local frame of this chassis) of the connection to a rear chassis. | |
| virtual ChCoordsys | GetLocalDriverCoordsys () const override |
| Get the local driver position and orientation. More... | |
 Public Member Functions inherited from chrono::vehicle::ChRigidChassis | |
| ChRigidChassis (const std::string &name, bool fixed=false) | |
| Construct a vehicle subsystem with the specified name. More... | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| bool | HasCollision () const |
| Specifies whether or not collision shapes were defined. | |
| bool | HasPrimitives () const |
| Specifies whether or not visualization primitives were defined. | |
| bool | HasMesh () const |
| Specifies whether or not a visualization mesh was defined. | |
| const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with chassis visualization mesh. More... | |
| virtual void | SetCollide (bool state) override |
| Enable/disable contact for the chassis. More... | |
| virtual void | Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0) override |
| Initialize the chassis at the specified global position and orientation. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets to this subsystem, for the specified visualization mode. | |
| virtual void | RemoveVisualizationAssets () override final |
| Remove all visualization assets from this subsystem. | |
| Public Member Functions inherited from chrono::vehicle::ChChassis | |
| ChChassis (const std::string &name, bool fixed=false) | |
| Construct a chassis subsystem with the specified name. More... | |
| std::shared_ptr< ChBodyAuxRef > | GetBody () const |
| Get a handle to the vehicle's chassis body. | |
| ChSystem * | GetSystem () const |
| Get a pointer to the containing system. | |
| const ChVector & | GetPos () const |
| Get the global location of the chassis reference frame origin. | |
| ChQuaternion | GetRot () const |
| Get the orientation of the chassis reference frame. More... | |
| ChVector | GetDriverPos () const |
| Get the global location of the driver. | |
| double | GetSpeed () const |
| Get the vehicle speed. More... | |
| double | GetCOMSpeed () const |
| Get the speed of the chassis COM. 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... | |
| void | SetFixed (bool val) |
| Set the "fixed to ground" status of the chassis body. | |
| bool | IsFixed () const |
| Return true if the chassis body is fixed to ground. | |
| bool | HasBushings () const |
| Return true if the vehicle model contains bushings. | |
| void | AddMarker (const std::string &name, const ChCoordsys<> &pos) |
| Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More... | |
| const std::vector< std::shared_ptr< ChMarker > > & | GetMarkers () const |
| void | SetAerodynamicDrag (double Cd, double area, double air_density) |
| Set parameters and enable aerodynamic drag force calculation. More... | |
| virtual void | Synchronize (double time) |
| Update the state of the chassis subsystem. More... | |
| void | AddJoint (std::shared_ptr< ChVehicleJoint > joint) |
| Utility function to add a joint (kinematic or bushing) to the vehicle system. | |
| void | AddExternalForce (std::shared_ptr< ExternalForce > force) |
| Utility force to add an external load to the chassis body. | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| 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. | |
Additional Inherited Members | |
| Static Public Member Functions inherited from chrono::vehicle::ChChassis | |
| static void | RemoveJoint (std::shared_ptr< ChVehicleJoint > joint) |
| Utility function to remove a joint (kinematic or bushing) from the vehicle system. | |
| 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... | |
| Protected Member Functions inherited from chrono::vehicle::ChRigidChassis | |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
| Export this subsystem's component list to the specified JSON object. More... | |
| virtual void | Output (ChVehicleOutput &database) const override |
| Output data for this subsystem's component list to the specified database. | |
| 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... | |
| 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). | |
| Protected Attributes inherited from chrono::vehicle::ChRigidChassis | |
| ChVehicleGeometry | m_geometry |
| collection of visualization and collision shapes | |
| Protected Attributes inherited from chrono::vehicle::ChChassis | |
| std::shared_ptr< ChBodyAuxRef > | m_body |
| handle to the chassis body | |
| std::shared_ptr< ChLoadContainer > | m_bushings |
| load container for vehicle bushings | |
| std::shared_ptr< ChLoadContainer > | m_container_forces |
| load container for external forces | |
| std::vector< std::shared_ptr< ExternalForce > > | m_forces |
| external forces | |
| std::vector< std::shared_ptr< ChMarker > > | m_markers |
| list of user-defined markers | |
| bool | m_fixed |
| is the chassis body fixed to ground? | |
| 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 | |
Member Function Documentation
◆ GetLocalDriverCoordsys()
|
inlineoverridevirtual |
Get the local driver position and orientation.
This is a coordinate system relative to the chassis reference frame.
Implements chrono::vehicle::ChChassis.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/chassis/RigidChassis.h
- /builds/uwsbel/chrono/src/chrono_vehicle/chassis/RigidChassis.cpp
