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:

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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)

ChSystem *	GetSystem () const

ChWheeledVehicle &	GetVehicle () const

std::shared_ptr< ChChassis >	GetChassis () const

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const

std::shared_ptr< ChPowertrain >	GetPowertrain () 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

ChSystem *	m_system

RCCar_Vehicle *	m_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

Description

Public Member Functions

Protected Attributes