chrono::vehicle::marder::Marder_Suspension Class Reference
Description
Linear-damper Marder track suspension.
#include <Marder_Suspension.h>
Inheritance diagram for chrono::vehicle::marder::Marder_Suspension:
Collaboration diagram for chrono::vehicle::marder::Marder_Suspension:
Public Member Functions | |
| Marder_Suspension (const std::string &name, VehicleSide side, int index, bool has_shock) | |
| virtual const ChVector | GetLocation (PointId which) override |
| Return the location of the specified hardpoint. More... | |
| virtual double | GetArmMass () const override |
| Return the mass of the arm body. | |
| virtual const ChVector & | GetArmInertia () const override |
| Return the moments of inertia of the arm body. | |
| virtual double | GetArmVisRadius () const override |
| Return a visualization radius for the arm body. | |
| virtual double | GetSpringRestAngle () const override |
| Return the free (rest) angle of the spring element. | |
| virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor > | GetSpringTorqueFunctor () const override |
| Return the functor object for the torsional spring torque. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | GetShockForceFunctor () const override |
| Return the functor object for the translational shock force. | |
 Public Member Functions inherited from chrono::vehicle::ChTranslationalDamperSuspension | |
| ChTranslationalDamperSuspension (const std::string &name, bool has_shock=true, bool lock_arm=false) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual std::shared_ptr< ChBody > | GetCarrierBody () const override |
| Get a handle to the carrier body. | |
| virtual double | GetCarrierAngle () const override |
| Return the current pitch angle of the carrier body. More... | |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track) override |
| Initialize this suspension subsystem. More... | |
| virtual ForceTorque | ReportSuspensionForce () const override |
| Return current suspension forces or torques, as appropriate (spring and shock). More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the suspension subsystem. | |
| virtual void | RemoveVisualizationAssets () override final |
| Remove visualization assets for the suspension subsystem. | |
| void | LogConstraintViolations () override |
| Log current constraint violations. | |
| Public Member Functions inherited from chrono::vehicle::ChTrackSuspension | |
| GuidePinType | GetType () const |
| Return the type of track shoe consistent with this road wheel. | |
| std::shared_ptr< ChTrackWheel > | GetRoadWheel () const |
| Return a handle to the road wheel subsystem. | |
| std::shared_ptr< ChBody > | GetWheelBody () const |
| Return the body of the idler wheel. | |
| std::shared_ptr< ChLinkLockRevolute > | GetWheelRevolute () const |
| Get a handle to the revolute joint of the road-wheel. | |
| double | GetWheelRadius () const |
| Get the radius of the road wheel. | |
| virtual void | SetOutput (bool state) override |
| Enable/disable output for this subsystem. 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. | |
| 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::ChTranslationalDamperSuspension | |
| enum | PointId { ARM, ARM_WHEEL, ARM_CHASSIS, SHOCK_A, SHOCK_C, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChTranslationalDamperSuspension | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor > | GetDamperTorqueFunctor () const |
| Return the functor object for the (optional) linear rotational damper. | |
| virtual std::shared_ptr< ChVehicleBushingData > | getArmBushingData () const |
| Return stiffness and damping data for the arm bushing. More... | |
| 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::ChTrackSuspension | |
| ChTrackSuspension (const std::string &name, bool has_shock, bool lock_arm) | |
| 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::ChTranslationalDamperSuspension | |
| std::shared_ptr< ChBody > | m_arm |
| trailing arm body | |
| std::shared_ptr< ChVehicleJoint > | m_joint |
| joint arm-chassis | |
| std::shared_ptr< ChLinkRSDA > | m_spring |
| rotational spring | |
| std::shared_ptr< ChLinkRSDA > | m_damper |
| optional rotational damper | |
| std::shared_ptr< ChLinkTSDA > | m_shock |
| translational shock element | |
| Protected Attributes inherited from chrono::vehicle::ChTrackSuspension | |
| GuidePinType | m_type |
| type of the track shoe matching this road wheel | |
| bool | m_has_shock |
| specifies whether or not the suspension has a damper | |
| bool | m_lock_arm |
| specified whether the suspension arm is locked | |
| ChVector | m_rel_loc |
| suspension subsystem location relative to chassis | |
| std::shared_ptr< ChTrackWheel > | m_road_wheel |
| road-wheel subsystem | |
| ChTrackAssembly * | m_track |
| containing track assembly | |
| 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
◆ GetLocation()
|
overridevirtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the idler subsystem reference frame.
Implements chrono::vehicle::ChTranslationalDamperSuspension.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Suspension.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Suspension.cpp
