chrono::vehicle::RigidChassisRear Class Reference

Description

Vehicle rigid rear chassis model constructed with data from file (JSON format).

#include <RigidChassis.h>

Inheritance diagram for chrono::vehicle::RigidChassisRear:
Collaboration diagram for chrono::vehicle::RigidChassisRear:

Public Member Functions

 RigidChassisRear (const std::string &filename)
 
 RigidChassisRear (const rapidjson::Document &d)
 
virtual const ChVectorGetLocalPosFrontConnector () const override
 Get the location (in the local frame of this chassis) of the connection to the front chassis.
 
virtual const ChVector GetLocalPosRearConnector () const override
 Get the location (in the local frame of this chassis) of the connection to a rear chassis.
 
- Public Member Functions inherited from chrono::vehicle::ChRigidChassisRear
 ChRigidChassisRear (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
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 (std::shared_ptr< ChChassis > chassis, int collision_family=0) override
 Initialize the rear chassis relative to the specified front chassis. 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::ChChassisRear
 ChChassisRear (const std::string &name)
 Construct a rear chassis subsystem with the specified name.
 
- 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< ChBodyAuxRefGetBody () const
 Get a handle to the vehicle's chassis body.
 
ChSystemGetSystem () const
 Get a pointer to the containing system.
 
const ChVectorGetPos () 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 ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () 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::ChRigidChassisRear
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::ChRigidChassisRear
ChVehicleGeometry m_geometry
 collection of visualization and collision shapes
 
- Protected Attributes inherited from chrono::vehicle::ChChassis
std::shared_ptr< ChBodyAuxRefm_body
 handle to the chassis body
 
std::shared_ptr< ChLoadContainerm_bushings
 load container for vehicle bushings
 
std::shared_ptr< ChLoadContainerm_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< ChPartm_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
 

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