Description

Definition of the RCCar assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a RC car, the powertrain model, and the 4 tires. It provides wrappers to access the different systems and subsystems, functions for specifying the tire types, as well as functions for controlling the visualization mode of each component.

#include <RCCar.h>

Collaboration diagram for chrono::vehicle::rccar::RCCar:

Public Member Functions

 RCCar (ChSystem *system)
 
void SetContactMethod (ChContactMethod val)
 
void SetChassisFixed (bool val)
 
void SetChassisCollisionType (CollisionType val)
 
void SetTireType (TireModelType val)
 
void SetInitPosition (const ChCoordsys<> &pos)
 
void SetInitFwdVel (double fwdVel)
 
void SetInitWheelAngVel (const std::vector< double > &omega)
 
void SetTireStepSize (double step_size)
 
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 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 SetMaxMotorVoltageRatio (double voltage_ratio)
 Set parameters for tuning engine map.
 
void SetStallTorque (double stall_torque)
 Set stall torque.
 
void SetTireRollingResistance (double rolling_resistance)
 Set tire rolling friction coefficient.
 
void SetMotorResistanceCoefficients (double c0, double c1)
 Set coefficients for motor resistance torque.
 
void Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain)
 
void Advance (double step)
 
void LogHardpointLocations ()
 
void DebugLog (int what)
 

Protected Attributes

ChContactMethod m_contactMethod
 
CollisionType m_chassisCollisionType
 
bool m_fixed
 
TireModelType m_tireType
 
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
 
RCCar_Vehiclem_vehicle
 
double m_tire_mass
 
double m_stall_torque
 
double m_voltage_ratio
 
double m_rolling_friction_coeff
 
double m_motor_resistance_c0
 
double m_motor_resistance_c1
 

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