chrono::vehicle::hmmwv::HMMWV_TMeasyTire Class Reference
Description
TMeasy tire model for the HMMWV.
#include <HMMWV_TMeasyTire.h>
Inheritance diagram for chrono::vehicle::hmmwv::HMMWV_TMeasyTire:
Collaboration diagram for chrono::vehicle::hmmwv::HMMWV_TMeasyTire:
Public Member Functions | |
HMMWV_TMeasyTire (const std::string &name) | |
virtual double | GetVisualizationWidth () const override |
Get visualization width. | |
virtual void | SetTMeasyParams () override |
Set the parameters in the TMeasy model. | |
virtual double | GetTireMass () const override |
Return the tire mass. | |
virtual ChVector | GetTireInertia () const override |
Return the tire moments of inertia (in the tire centroidal frame). | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the rigid tire subsystem. | |
virtual void | RemoveVisualizationAssets () override final |
Remove visualization assets for the rigid tire subsystem. | |
void | GenerateCharacteristicPlots (const std::string &dirname) |
Public Member Functions inherited from chrono::vehicle::ChTMeasyTire | |
ChTMeasyTire (const std::string &name) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
virtual double | GetRadius () const override |
Get the tire radius. | |
void | SetGammaLimit (double gamma_limit) |
Set the limit for camber angle (in degrees). Default: 3 degrees. | |
virtual double | GetWidth () const override |
Get the width of the tire. | |
double | GetSlipAngle_internal () const |
Get the tire slip angle computed internally by the TMeasy model (in radians). More... | |
double | GetLongitudinalSlip_internal () const |
Get the tire longitudinal slip computed internally by the TMeasy model. More... | |
double | GetCamberAngle_internal () |
Get the camber angle computed internally by the TMeasy model (in radians). More... | |
void | GuessTruck80Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5) |
Guess Tire Parameters from characteristic truck tire parameter pattern (Ratio = 80%). More... | |
void | GuessTruck80Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5) |
void | GuessPassCar70Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5) |
Guess Tire Parameters from characteristic passenger car tire parameter pattern (Ratio = 70%). More... | |
void | GuessPassCar70Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5) |
void | SetVerticalStiffness (double Cz) |
Set vertical tire stiffness as linear function by coefficient [N/m]. | |
void | SetVerticalStiffness (double Cz1, double Cz2) |
Set vertical tire stiffness as nonlinear function by coefficients at nominal load 1 [N/m] and nominal load 2 [N/m]. | |
void | SetVerticalStiffness (std::vector< double > &defl, std::vector< double > &frc) |
Set vertical tire stiffness as nonlinear function by calculation from tire test data (least squares). | |
void | SetFrictionCoefficient (double coeff) |
Set the tire reference coefficient of friction. | |
void | SetRollingResistanceCoefficients (double rr_coeff_1, double rr_coeff_2) |
Set rolling resistance coefficients. | |
void | SetDynamicRadiusCoefficients (double rdyn_coeff_1, double rdyn_coeff_2) |
Set dynamic radius coefficients. | |
void | WritePlots (const std::string &plFileName, const std::string &plTireFormat) |
Generate basic tire plots. More... | |
virtual double | GetDeflection () const override |
Get the tire deflection. | |
ChVector | GetDeflection3 () |
Using tire relaxation, we have three tire deflections. | |
void | ExportParameterFile (std::string fileName) |
Export a TMeasy Tire Parameter File. | |
void | ExportJSONFile (std::string jsonFileName) |
Export a TMeasy Tire Parameter File in JSON format. | |
bool | CheckParameters () |
Simple parameter consistency test. | |
Public Member Functions inherited from chrono::vehicle::ChForceElementTire | |
virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
Report the tire force and moment. | |
Public Member Functions inherited from chrono::vehicle::ChTire | |
void | SetStepsize (double val) |
Set the value of the integration step size for the underlying dynamics (if applicable). More... | |
double | GetStepsize () const |
Get the current value of the integration step size. | |
void | SetCollisionType (CollisionType collision_type) |
Set the collision type for tire-terrain interaction. More... | |
double | GetSlipAngle () const |
Return the tire slip angle calculated based on the current state of the associated wheel body. More... | |
double | GetLongitudinalSlip () const |
Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More... | |
double | GetCamberAngle () const |
Return the tire camber angle calculated based on the current state of the associated wheel body. More... | |
const std::string & | GetMeshFilename () const |
Get the name of the Wavefront file with tire 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. | |
Additional Inherited Members | |
Public Types inherited from chrono::vehicle::ChTire | |
enum | CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE } |
Static Public Member Functions inherited from chrono::vehicle::ChTMeasyTire | |
static double | GetTireMaxLoad (unsigned int li) |
Get maximum tire load from Load Index (LI) in N [0:279]. | |
Static Public Member Functions inherited from chrono::vehicle::ChTire | |
static ChVector | EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2) |
Utility function for estimating the tire moments of inertia. 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::ChTMeasyTire | |
virtual double | GetNormalStiffnessForce (double depth) const override final |
Return the vertical tire stiffness contribution to the normal force. | |
virtual double | GetNormalDampingForce (double depth, double velocity) const override final |
Return the vertical tire damping contribution to the normal force. | |
double | InterpL (double fz, double w1, double w2) |
double | InterpQ (double fz, double w1, double w2) |
void | UpdateVerticalStiffness () |
virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
Initialize this tire by associating it to the specified wheel. | |
virtual void | Synchronize (double time, const ChTerrain &terrain) override |
Update the state of this tire system at the current time. More... | |
virtual void | Advance (double step) override |
Advance the state of this tire by the specified time step. | |
void | tmxy_combined (double &f, double &fos, double s, double df0, double sm, double fm, double ss, double fs) |
double | tmy_tireoff (double sy, double nto0, double synto0, double syntoE) |
Protected Member Functions inherited from chrono::vehicle::ChForceElementTire | |
ChForceElementTire (const std::string &name) | |
Construct a tire with the specified name. | |
virtual TerrainForce | GetTireForce () const override |
Get the tire force and moment. More... | |
Protected Member Functions inherited from chrono::vehicle::ChTire | |
ChTire (const std::string &name) | |
Construct a tire subsystem with given name. | |
void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
Calculate kinematics quantities based on the given state of the associated wheel body. More... | |
double | GetOffset () const |
Get offset from spindle center. More... | |
std::shared_ptr< ChTriangleMeshShape > | AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right) |
Add mesh visualization to the body associated with this tire (a wheel spindle body). 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::ChTire | |
static bool | DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
Perform disc-terrain collision detection, using the specified method. More... | |
static void | ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep) |
Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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::ChTMeasyTire | |
bool | m_consider_relaxation |
bool | m_use_Reff_fallback_calculation |
bool | m_use_startup_transition |
unsigned int | m_integration_method |
double | m_time |
double | m_begin_start_transition |
double | m_end_start_transition |
double | m_vnum |
double | m_gamma |
actual camber angle | |
double | m_gamma_limit |
limit camber angle (degrees!) | |
double | m_unloaded_radius |
reference tire radius | |
double | m_width |
tire width | |
double | m_rim_radius |
tire rim radius | |
double | m_roundness |
roundness factor for cross-section profile | |
double | m_rolling_resistance |
actual rolling friction coeff | |
double | m_mu |
local friction coefficient of the road | |
double | m_a1 |
polynomial coefficient a1 in cz = a1 + 2.0*a2 * deflection | |
double | m_a2 |
polynomial coefficient a2 in cz = a1 + 2.0*a2 * deflection | |
double | m_tau_x |
Longitudinal relaxation delay time. | |
double | m_tau_y |
Lateral relaxation delay time. | |
double | m_relaxation_lenght_x |
Longitudinal relaxation length. | |
double | m_relaxation_lenght_y |
Lateral relaxation length. | |
double | m_relaxation_lenght_phi |
Relaxation length for bore movement. | |
double | m_rdynco |
actual value of dynamic rolling radius weighting coefficient | |
double | m_rdynco_crit |
max. considered value of m_rdynco (local minimum of dynamic rolling radius) | |
double | m_fz_rdynco_crit |
Fz value r_dyn = r_dyn(m_fz_rdynco,m_rdynco_crit) | |
VehicleSide | m_measured_side |
TMeasyCoeff | m_TMeasyCoeff |
std::vector< double > | m_tire_test_defl |
std::vector< double > | m_tire_test_frc |
TireStates | m_states |
std::shared_ptr< ChCylinderShape > | m_cyl_shape |
visualization cylinder asset | |
Protected Attributes inherited from chrono::vehicle::ChForceElementTire | |
ContactData | m_data |
tire-terrain collision information | |
TerrainForce | m_tireforce |
tire forces (in tire contact frame) | |
ChFunction_Recorder | m_areaDep |
Protected Attributes inherited from chrono::vehicle::ChTire | |
std::shared_ptr< ChWheel > | m_wheel |
associated wheel subsystem | |
double | m_stepsize |
tire integration step size (if applicable) | |
CollisionType | m_collision_type |
method used for tire-terrain collision | |
std::string | m_vis_mesh_file |
name of OBJ file for visualization of this tire (may be empty) | |
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/hmmwv/HMMWV_TMeasyTire.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_TMeasyTire.cpp