chrono::vehicle::mrole::mrole_PitmanArmShafts Class Reference
Description
Pitman-arm with compliant column steering subsystem for the mrole vehicle.
#include <mrole_PitmanArmShafts.h>
Inheritance diagram for chrono::vehicle::mrole::mrole_PitmanArmShafts:
Collaboration diagram for chrono::vehicle::mrole::mrole_PitmanArmShafts:
Public Member Functions | |
| mrole_PitmanArmShafts (const std::string &name, bool rigid_connection) | |
| virtual double | getSteeringLinkMass () const override |
| Return the mass of the steering link body. | |
| virtual double | getPitmanArmMass () const override |
| Return the mass of the Pitman arm body. | |
| virtual double | getSteeringLinkRadius () const override |
| Return the radius of the steering link body (visualization only). | |
| virtual double | getPitmanArmRadius () const override |
| Return the radius of the Pitman arm body (visualization only). | |
| virtual const ChVector & | getSteeringLinkInertiaMoments () const override |
| Return the moments of inertia of the steering link body. | |
| virtual const ChVector & | getSteeringLinkInertiaProducts () const override |
| Return the products of inertia of the steering link body. | |
| virtual const ChVector & | getPitmanArmInertiaMoments () const override |
| Return the moments of inertia of the Pitman arm body. | |
| virtual const ChVector & | getPitmanArmInertiaProducts () const override |
| Return the products of inertia of the Pitman arm body. | |
| virtual double | getMaxAngle () const override |
| Return the maximum rotation angle of the steering wheel. | |
| virtual double | getGearRatio () const override |
| Return the transmission ratio in the steering column. More... | |
| virtual double | getSteeringCompliance () const override |
| Return the steering column compliance (N.m/rad) | |
| virtual double | getSteeringColumnInertia () const override |
| Return rotational inertia of steering column. | |
| virtual const ChVector | getLocation (PointId which) override |
| Return the location of the specified hardpoint. More... | |
| virtual const ChVector | getDirection (DirectionId which) override |
| Return the unit vector for the specified direction. More... | |
 Public Member Functions inherited from chrono::vehicle::ChPitmanArmShafts | |
| ChPitmanArmShafts (const std::string &name, bool vehicle_frame_inertia=false, bool rigid_column=false) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override |
| Initialize this steering subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the steering subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the steering subsystem. | |
| virtual void | Synchronize (double time, const DriverInputs &driver_inputs) override |
| Update the state of this steering subsystem at the current time. More... | |
| virtual void | LogConstraintViolations () override |
| Log current constraint violations. | |
| void | GetShaftInformation (double time, double &motor_input, double &motor_input_der, std::vector< double > &shaft_angles, std::vector< double > &shaft_velocities, std::vector< double > &constraint_violations, ChVector<> &arm_angular_vel) const |
| Return information on steering column shafts and couples (debugging). | |
| Public Member Functions inherited from chrono::vehicle::ChSteering | |
| const ChFrame & | GetRelTransform () const |
| Get the frame of the steering subsystem relative to the associated chassis reference frame. | |
| std::shared_ptr< ChBody > | GetSteeringLink () const |
| Get a handle to the main link of the steering subsystems. 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. | |
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::ChPitmanArmShafts | |
| enum | PointId { STEERINGLINK, PITMANARM, REV, UNIV, REVSPH_R, REVSPH_S, TIEROD_PA, TIEROD_IA, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| enum | DirectionId { REV_AXIS, UNIV_AXIS_ARM, UNIV_AXIS_LINK, REVSPH_AXIS, NUM_DIRS } |
| Identifiers for the various direction unit vectors. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChPitmanArmShafts | |
| void | SetVehicleFrameInertiaFlag (bool val) |
| Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). More... | |
| 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::ChSteering | |
| ChSteering (const std::string &name) | |
| Construct a steering subsystem with given name. | |
| 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::ChPitmanArmShafts | |
| std::shared_ptr< ChBody > | m_arm |
| handle to the Pitman arm body | |
| std::shared_ptr< ChLinkLockRevolute > | m_revolute |
| handle to the chassis-arm revolute joint | |
| std::shared_ptr< ChLinkRevoluteSpherical > | m_revsph |
| handle to the revolute-spherical joint (idler arm) | |
| std::shared_ptr< ChLinkUniversal > | m_universal |
| handle to the arm-link universal joint | |
| std::shared_ptr< ChShaft > | m_shaft_A |
| shaft connected to arm body | |
| std::shared_ptr< ChShaft > | m_shaft_C |
| shaft connected to chassis | |
| std::shared_ptr< ChShaft > | m_shaft_A1 |
| shaft for implementing gear ratio | |
| std::shared_ptr< ChShaft > | m_shaft_C1 |
| shaft for implementing steering input | |
| std::shared_ptr< ChShaftsBody > | m_shaft_arm |
| connection of shaft_A to arm body | |
| std::shared_ptr< ChShaftsBody > | m_shaft_chassis |
| connection of shaft_C to chassis body | |
| std::shared_ptr< ChShaftsGear > | m_shaft_gear |
| reduction gear between shaft_A and shaft_A1 | |
| std::shared_ptr< ChShaftsMotorAngle > | m_shaft_motor |
| steering input motor between shaft_C and shaft_C1 | |
| std::shared_ptr< ChShaftsGear > | m_rigid_connection |
| rigid connection between shaft_A1 and shaft_C1 | |
| std::shared_ptr< ChShaftsTorsionSpring > | m_spring_connection |
| compliant connection between shaft_A1 and shaft_C1 | |
| Protected Attributes inherited from chrono::vehicle::ChSteering | |
| ChFrame | m_rel_xform |
| location and orientation relative to associated chassis | |
| std::shared_ptr< ChBody > | m_link |
| handle to the main steering link | |
| 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
◆ getDirection()
|
overridevirtual |
Return the unit vector for the specified direction.
The returned vector must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChPitmanArmShafts.
◆ getGearRatio()
|
inlineoverridevirtual |
Return the transmission ratio in the steering column.
This value must be larger than 1.
Implements chrono::vehicle::ChPitmanArmShafts.
◆ getLocation()
|
overridevirtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChPitmanArmShafts.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole_PitmanArmShafts.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/mrole/mrole_PitmanArmShafts.cpp
