Description

Definition of the mrole assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a mrole, the powertrain model, and the 8 tires. It provides wrappers to access the different systems and subsystems, functions for specifying the driveline, powertrain, and tire types, as well as functions for controlling the visualization mode of each component. Note that this is an abstract class which cannot be instantiated. Instead, use one of the concrete classes mrole_Full or mrole_Reduced.

#include <mrole.h>

Inheritance diagram for chrono::vehicle::mrole::mrole:
Collaboration diagram for chrono::vehicle::mrole::mrole:

Public Types

enum  CTIS { ROAD, OFFROAD_SOIL, OFFROAD_SAND }
 

Public Member Functions

void SetContactMethod (ChContactMethod val)
 
void SetChassisFixed (bool val)
 
void SetChassisCollisionType (CollisionType val)
 
void SetDriveType (DrivelineTypeWV val)
 
void SetBrakeType (BrakeType brake_type)
 
void SetPowertrainType (PowertrainModelType val)
 
void SetTireType (TireModelType val)
 
void SetTireCollisionType (ChTire::CollisionType collision_type)
 
void SetInitPosition (const ChCoordsys<> &pos)
 
void SetInitFwdVel (double fwdVel)
 
void SetInitWheelAngVel (const std::vector< double > &omega)
 
void SetTireStepSize (double step_size)
 
void EnableBrakeLocking (bool lock)
 
ChSystemGetSystem () const
 
ChWheeledVehicleGetVehicle () const
 
std::shared_ptr< ChChassisGetChassis () const
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 
std::shared_ptr< ChPowertrainGetPowertrain () const
 
void Initialize ()
 
void LockAxleDifferential (int axle, bool lock)
 
void LockCentralDifferential (int which, bool lock)
 
void SetAerodynamicDrag (double Cd, double area, double air_density)
 
void SetChassisVisualizationType (VisualizationType vis)
 
void SetSuspensionVisualizationType (VisualizationType vis)
 
void SetSteeringVisualizationType (VisualizationType vis)
 
void SetWheelVisualizationType (VisualizationType vis)
 
void SetTireVisualizationType (VisualizationType vis)
 
void Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain)
 
void Advance (double step)
 
void SelectRoadOperation ()
 
void SelectOffroadSoilOperation ()
 
void SelectOffroadSandOperation ()
 
double GetMaxTireSpeed ()
 

Protected Member Functions

 mrole (ChSystem *system)
 
virtual mrole_VehicleCreateVehicle ()=0
 

Protected Attributes

CTIS m_ctis
 
ChContactMethod m_contactMethod
 
CollisionType m_chassisCollisionType
 
bool m_fixed
 
bool m_brake_locking
 
DrivelineTypeWV m_driveType
 
PowertrainModelType m_powertrainType
 
BrakeType m_brake_type
 
TireModelType m_tireType
 
ChTire::CollisionType m_tire_collision_type
 
double m_tire_step_size
 
ChCoordsys m_initPos
 
double m_initFwdVel
 
std::vector< double > m_initOmega
 
bool m_apply_drag
 
double m_Cd
 
double m_area
 
double m_air_density
 
ChSystemm_system
 
mrole_Vehiclem_vehicle
 
double m_tire_mass
 

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole.cpp