Description

Simple Gator powertrain subsystem (based on engine speed-torque maps).

#include <Gator_SimpleMapPowertrain.h>

Inheritance diagram for chrono::vehicle::gator::Gator_SimpleMapPowertrain:

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Collaboration diagram for chrono::vehicle::gator::Gator_SimpleMapPowertrain:

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Public Member Functions
	Gator_SimpleMapPowertrain (const std::string &name)

virtual double	GetMaxEngineSpeed () override
	Specify maximum engine speed.

virtual void	SetEngineTorqueMaps (ChFunction_Recorder &map0, ChFunction_Recorder &mapF) override
	Set the engine speed-torque maps. More...

virtual void	SetGearRatios (std::vector< double > &fwd, double &rev) override
	Set the transmission gear ratios (one or more forward gear ratios and a single reverse gear ratio).

virtual void	SetShiftPoints (std::vector< std::pair< double, double >> &shift_bands) override
	Set the ideal shift points for automatic gear shifting. More...

Public Member Functions inherited from chrono::vehicle::ChSimpleMapPowertrain
	ChSimpleMapPowertrain (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual double	GetMotorSpeed () const override
	Return the current engine speed.

virtual double	GetMotorTorque () const override
	Return the current total engine torque.

double	GetMotorResistance () const
	Return the current engine resistance torque.

virtual double	GetTorqueConverterSlippage () const override
	Return the value of slippage in the torque converter. More...

virtual double	GetTorqueConverterInputTorque () const override
	Return the input torque to the torque converter. More...

virtual double	GetTorqueConverterOutputTorque () const override
	Return the output torque from the torque converter. More...

virtual double	GetTorqueConverterOutputSpeed () const override
	Return the torque converter output shaft speed. More...

virtual double	GetOutputTorque () const override
	Return the output torque from the powertrain. More...

Public Member Functions inherited from chrono::vehicle::ChPowertrain
int	GetCurrentTransmissionGear () const
	Return the current transmission gear. More...

void	SetDriveMode (DriveMode mode)
	Set the drive mode.

DriveMode	GetDriveMode () const
	Return the current drive mode.

void	SetTransmissionMode (TransmissionMode mode)
	Set the transmission mode (automatic or manual). More...

TransmissionMode	GetTransmissionMode () const
	Get the current transmission mode.

void	ShiftUp ()
	Shift up.

void	ShiftDown ()
	Shift down.

void	SetGear (int gear)
	Shift to the specified gear. 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	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from 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.

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChPowertrain
enum	DriveMode { DriveMode::FORWARD, DriveMode::NEUTRAL, DriveMode::REVERSE }
	Driving modes. More...

enum	TransmissionMode { TransmissionMode::AUTOMATIC, TransmissionMode::MANUAL }
	Transmission mode. More...

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::ChSimpleMapPowertrain
virtual void	SetMotorResistanceCoefficients (double &c0, double &c1)
	Set coefficients for motor resistance. More...

Protected Member Functions inherited from chrono::vehicle::ChPowertrain
	ChPowertrain (const std::string &name)

virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual void	OnGearShift ()
	Perform any action required on a gear shift (the new gear and gear ratio are available).

virtual void	OnNeutralShift ()
	Perform any action required on placing the transmission in neutral.

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::ChPowertrain
TransmissionMode	m_transmission_mode
	transmission mode (automatic or manual)

DriveMode	m_drive_mode
	drive mode (neutral, forward, or reverse)

std::shared_ptr< ChDriveline >	m_driveline
	associated driveline subsystem

std::vector< double >	m_gear_ratios
	gear ratios (0: reverse, 1+: forward)

int	m_current_gear
	current transmission gear (0: reverse, 1+: forward)

double	m_current_gear_ratio
	current gear ratio (positive for forward, negative for reverse)

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

◆ SetEngineTorqueMaps()

void chrono::vehicle::gator::Gator_SimpleMapPowertrain::SetEngineTorqueMaps	(	ChFunction_Recorder &	map0,
		ChFunction_Recorder &	mapF
	)

overridevirtual

Set the engine speed-torque maps.

A concrete class must add the speed-torque points to the provided maps, using the ChFunction_Recorder::AddPoint() function.

Parameters

[out]	map0	engine map at zero throttle
[out]	mapF	engine map at full throttle

Implements chrono::vehicle::ChSimpleMapPowertrain.

◆ SetShiftPoints()

void chrono::vehicle::gator::Gator_SimpleMapPowertrain::SetShiftPoints ( std::vector< std::pair< double, double >> & shift_bands )

overridevirtual

Set the ideal shift points for automatic gear shifting.

For each forward gear, specify a pair (min, max) with the minimum and maximum engine speed for shifting (down and up, respectively).

Parameters

[out] shift_bands down-shift/up-shift points

Implements chrono::vehicle::ChSimpleMapPowertrain.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_models/vehicle/gator/Gator_SimpleMapPowertrain.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/gator/Gator_SimpleMapPowertrain.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ SetEngineTorqueMaps()

◆ SetShiftPoints()