chrono::vehicle::fmtv::FMTV_Wheel Class Reference
Description
FMTV wheel (can be used on any axle, left or right).
#include <FMTV_Wheel.h>
Inheritance diagram for chrono::vehicle::fmtv::FMTV_Wheel:
Collaboration diagram for chrono::vehicle::fmtv::FMTV_Wheel:
Public Member Functions | |
FMTV_Wheel (const std::string &name) | |
virtual double | GetWheelMass () const override |
virtual const ChVector & | GetWheelInertia () const override |
virtual double | GetRadius () const override |
Get the wheel radius (for visualization only). | |
virtual double | GetWidth () const override |
Get the wheel width (for visualization only). | |
Public Member Functions inherited from chrono::vehicle::ChWheel | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
virtual void | Initialize (std::shared_ptr< ChBody > spindle, VehicleSide side, double offset=0) |
Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem. More... | |
void | Synchronize () |
Synchronize the wheel subsystem. More... | |
std::shared_ptr< ChTire > | GetTire () const |
Get the tire attached to this wheel. | |
void | SetTire (std::shared_ptr< ChTire > tire) |
Associate the given tire with this wheel. | |
std::shared_ptr< ChBody > | GetSpindle () const |
Get the associated spindle body. | |
VehicleSide | GetSide () const |
Get the vehicle side on which this wheel is mounted. | |
ChVector | GetPos () const |
Get wheel position (expressed in absolute frame). | |
WheelState | GetState () const |
Get the current state for this wheel. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the wheel subsystem. More... | |
virtual void | RemoveVisualizationAssets () override |
Remove visualization assets for the wheel subsystem. | |
const std::string & | GetMeshFilename () const |
Get the name of the Wavefront file with wheel visualization mesh. 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. | |
virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
Export this subsystem's component list to the specified JSON object. More... | |
virtual void | Output (ChVehicleOutput &database) const |
Output data for this subsystem's component list to the specified database. | |
Static Protected Attributes | |
static const double | m_radius = 0.254 |
static const double | m_width = 0.254 |
static const double | m_mass = 30.0 |
static const ChVector | m_inertia |
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 Member Functions inherited from chrono::vehicle::ChWheel | |
ChWheel (const std::string &name) | |
Construct a wheel subsystem with given name. | |
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::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... | |
virtual void | Create (const rapidjson::Document &d) |
Create a vehicle subsystem from JSON data. 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::ChWheel | |
std::shared_ptr< ChBody > | m_spindle |
associated suspension spindle body | |
std::shared_ptr< ChTire > | m_tire |
attached tire subsystem | |
VehicleSide | m_side |
wheel mounted on left/right side | |
double | m_offset |
offset from spindle center | |
std::string | m_vis_mesh_file |
visualization mesh file (may be empty) | |
std::shared_ptr< ChTriangleMeshShape > | m_trimesh_shape |
visualization mesh asset | |
std::shared_ptr< ChCylinderShape > | m_cyl_shape |
visualization cylinder asset | |
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 | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/FMTV_Wheel.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/FMTV_Wheel.cpp