chrono::vehicle::SolidAxle Class Reference
Description
Solid axle suspension constructed with data from file.
#include <SolidAxle.h>
Inheritance diagram for chrono::vehicle::SolidAxle:
Collaboration diagram for chrono::vehicle::SolidAxle:
Public Member Functions | |
| SolidAxle (const std::string &filename) | |
| SolidAxle (const rapidjson::Document &d) | |
| virtual double | getCamberAngle () const override |
| Return the camber angle, in radians (default: 0). | |
| virtual double | getToeAngle () const override |
| Return the toe angle, in radians (default: 0). More... | |
| virtual double | getAxleTubeMass () const override |
| Return the mass of the axle tube body. | |
| virtual double | getSpindleMass () const override |
| Return the mass of the spindle body. | |
| virtual double | getULMass () const override |
| Return the mass of the upper link body. | |
| virtual double | getLLMass () const override |
| Return the mass of the lower link body. | |
| virtual double | getKnuckleMass () const override |
| Return the mass of the knuckle body. | |
| virtual double | getTierodMass () const override |
| Return the mass of the tierod body. | |
| virtual double | getDraglinkMass () const override |
| Return the mass of the draglink body. | |
| virtual double | getBellCrankMass () const override |
| Return the mass of the bell crank body. | |
| virtual double | getAxleTubeRadius () const override |
| Return the radius of the axle tube body (visualization only). | |
| virtual double | getSpindleRadius () const override |
| Return the radius of the spindle body (visualization only). | |
| virtual double | getSpindleWidth () const override |
| Return the width of the spindle body (visualization only). | |
| virtual double | getULRadius () const override |
| Return the radius of the upper link body (visualization only). | |
| virtual double | getLLRadius () const override |
| Return the radius of the lower link body (visualization only). | |
| virtual double | getKnuckleRadius () const override |
| Return the radius of the knuckle body (visualization only). | |
| virtual double | getTierodRadius () const override |
| Return the radius of the tierod body (visualization only). | |
| virtual double | getDraglinkRadius () const override |
| Return the radius of the draglink body (visualization only). | |
| virtual double | getBellCrankRadius () const override |
| Return the radius of the bell crank body (visualization only). | |
| virtual const ChVector & | getAxleTubeInertia () const override |
| Return the moments of inertia of the axle tube body. | |
| virtual const ChVector & | getSpindleInertia () const override |
| Return the moments of inertia of the spindle body. | |
| virtual const ChVector & | getULInertia () const override |
| Return the moments of inertia of the upper link body. | |
| virtual const ChVector & | getLLInertia () const override |
| Return the moments of inertia of the lower link body. | |
| virtual const ChVector & | getKnuckleInertia () const override |
| Return the moments of inertia of the knuckle body. | |
| virtual const ChVector & | getTierodInertia () const override |
| Return the moments of inertia of the tierod body. | |
| virtual const ChVector & | getDraglinkInertia () const override |
| Return the moments of inertia of the draglink body. | |
| virtual const ChVector & | getBellCrankInertia () const override |
| Return the moments of inertia of the bell crank body. | |
| virtual double | getAxleInertia () const override |
| Return the inertia of the axle shaft. | |
| virtual double | getSpringRestLength () const override |
| Return the free (rest) length of the spring element. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getSpringForceFunctor () const override |
| Return the functor object for spring force. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockForceFunctor () const override |
| Return the functor object for shock force. | |
| virtual const ChVector | getAxleTubeCOM () const override |
| Return the center of mass of the axle tube. | |
 Public Member Functions inherited from chrono::vehicle::ChSolidAxle | |
| ChSolidAxle (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual bool | IsSteerable () const final override |
| Specify whether or not this suspension can be steered. | |
| virtual bool | IsIndependent () const final override |
| Specify whether or not this is an independent suspension. | |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0) override |
| Initialize this suspension subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the suspension subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the suspension subsystem. | |
| virtual double | GetTrack () override |
| Get the wheel track for the suspension subsystem. | |
| std::shared_ptr< ChLinkTSDA > | GetSpring (VehicleSide side) const |
| Get a handle to the specified spring element. | |
| std::shared_ptr< ChLinkTSDA > | GetShock (VehicleSide side) const |
| Get a handle to the specified shock (damper) element. | |
| virtual ChSuspension::Force | ReportSuspensionForce (VehicleSide side) const override |
| Return current suspension forces (spring and shock) on the specified side. | |
| double | GetSpringForce (VehicleSide side) const |
| Get the force in the spring element. | |
| double | GetSpringLength (VehicleSide side) const |
| Get the current length of the spring element. | |
| double | GetSpringDeformation (VehicleSide side) const |
| Get the current deformation of the spring element. | |
| double | GetShockForce (VehicleSide side) const |
| Get the force in the shock (damper) element. | |
| double | GetShockLength (VehicleSide side) const |
| Get the current length of the shock (damper) element. | |
| double | GetShockVelocity (VehicleSide side) const |
| Get the current deformation velocity of the shock (damper) element. | |
| virtual void | LogConstraintViolations (VehicleSide side) override |
| Log current constraint violations. | |
| void | LogHardpointLocations (const ChVector<> &ref, bool inches=false) |
| Public Member Functions inherited from chrono::vehicle::ChSuspension | |
| const ChVector & | GetRelPosition () const |
| Get the location of the suspension subsystem relative to the associated chassis reference frame. More... | |
| std::shared_ptr< ChBody > | GetSpindle (VehicleSide side) const |
| Get a handle to the spindle body on the specified side. | |
| std::shared_ptr< ChShaft > | GetAxle (VehicleSide side) const |
| Get a handle to the axle shaft on the specified side. | |
| std::shared_ptr< ChLinkLockRevolute > | GetRevolute (VehicleSide side) const |
| Get a handle to the revolute joint on the specified side. | |
| const ChVector & | GetSpindlePos (VehicleSide side) const |
| Get the global location of the spindle on the specified side. | |
| ChQuaternion | GetSpindleRot (VehicleSide side) const |
| Get the orientation of the spindle body on the specified side. More... | |
| const ChVector & | GetSpindleLinVel (VehicleSide side) const |
| Get the linear velocity of the spindle body on the specified side. More... | |
| ChVector | GetSpindleAngVel (VehicleSide side) const |
| Get the angular velocity of the spindle body on the specified side. More... | |
| double | GetAxleSpeed (VehicleSide side) const |
| Get the angular speed of the axle on the specified side. | |
| void | Synchronize () |
| Synchronize this suspension subsystem. More... | |
| void | ApplyAxleTorque (VehicleSide side, double torque) |
| Apply the provided motor torque. More... | |
| virtual std::shared_ptr< ChBody > | GetAntirollBody (VehicleSide side) const |
| Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More... | |
| virtual std::shared_ptr< ChBody > | GetBrakeBody (VehicleSide side) const |
| Specify the body on the specified side for a possible connection to brake subsystem. More... | |
| void | ApplyParkingBrake (bool brake) |
| Simple model of a parking brake. | |
| 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::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 Types inherited from chrono::vehicle::ChSolidAxle | |
| enum | PointId { SHOCK_A, SHOCK_C, KNUCKLE_L, KNUCKLE_U, LL_A, LL_C, UL_A, UL_C, SPRING_A, SPRING_C, TIEROD_K, SPINDLE, KNUCKLE_CM, LL_CM, UL_CM, BELLCRANK_TIEROD, BELLCRANK_AXLE, BELLCRANK_DRAGLINK, DRAGLINK_C, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChSolidAxle | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChSuspension | |
| ChSuspension (const std::string &name) | |
| Construct a suspension subsystem with given name. | |
| 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::ChSolidAxle | |
| std::shared_ptr< ChBody > | m_axleTube |
| handles to the axle tube body | |
| std::shared_ptr< ChBody > | m_tierod |
| handles to the tierod body | |
| std::shared_ptr< ChBody > | m_bellCrank |
| handles to the bellcrank body | |
| std::shared_ptr< ChBody > | m_draglink |
| handles to the draglink body | |
| std::shared_ptr< ChBody > | m_knuckle [2] |
| handles to the knuckle bodies (L/R) | |
| std::shared_ptr< ChBody > | m_upperLink [2] |
| handles to the upper link bodies (L/R) | |
| std::shared_ptr< ChBody > | m_lowerLink [2] |
| handles to the lower link bodies (L/R) | |
| std::shared_ptr< ChLinkLockRevolute > | m_revoluteBellCrank |
| bellCrank-axle revolute joint (left) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalTierod |
| knuckle-tierod spherical joint (left) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalDraglink |
| draglink-chassis spherical joint (left) | |
| std::shared_ptr< ChLinkUniversal > | m_universalDraglink |
| draglink-bellCrank universal joint (left) | |
| std::shared_ptr< ChLinkUniversal > | m_universalTierod |
| knuckle-tierod universal joint (right) | |
| std::shared_ptr< ChLinkLockPointPlane > | m_pointPlaneBellCrank |
| bellCrank-tierod point-plane joint (left) | |
| std::shared_ptr< ChLinkLockRevolute > | m_revoluteKingpin [2] |
| knuckle-axle tube revolute joints (L/R) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalUpperLink [2] |
| upper link-axle tube spherical joints (L/R) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalLowerLink [2] |
| lower link-axle tube spherical joints (L/R) | |
| std::shared_ptr< ChLinkUniversal > | m_universalUpperLink [2] |
| upper link-chassis universal joints (L/R) | |
| std::shared_ptr< ChLinkUniversal > | m_universalLowerLink [2] |
| lower link-chassis universal joints (L/R) | |
| std::shared_ptr< ChLinkTSDA > | m_shock [2] |
| handles to the spring links (L/R) | |
| std::shared_ptr< ChLinkTSDA > | m_spring [2] |
| handles to the shock links (L/R) | |
| Protected Attributes inherited from chrono::vehicle::ChSuspension | |
| ChVector | m_rel_loc |
| location relative to chassis | |
| std::shared_ptr< ChBody > | m_spindle [2] |
| handles to spindle bodies | |
| std::shared_ptr< ChShaft > | m_axle [2] |
| handles to axle shafts | |
| std::shared_ptr< ChShaftsBody > | m_axle_to_spindle [2] |
| handles to spindle-shaft connectors | |
| std::shared_ptr< ChLinkLockRevolute > | m_revolute [2] |
| handles to spindle revolute joints | |
| 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
◆ getToeAngle()
|
inlineoverridevirtual |
Return the toe angle, in radians (default: 0).
A positive value indicates toe-in, a negative value indicates toe-out.
Reimplemented from chrono::vehicle::ChSolidAxle.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/SolidAxle.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/SolidAxle.cpp
