chrono::vehicle::rccar::RCCar_RigidTire Class Reference
Description
Rigid tire model for the RCCar vehicle.
#include <RCCar_RigidTire.h>
Inheritance diagram for chrono::vehicle::rccar::RCCar_RigidTire:
Collaboration diagram for chrono::vehicle::rccar::RCCar_RigidTire:
Public Member Functions | |
| RCCar_RigidTire (const std::string &name, bool use_mesh=false) | |
| virtual double | GetRadius () const override |
| Get the tire radius. | |
| virtual double | GetWidth () const override |
| Get the tire width. | |
| virtual double | GetTireMass () const override |
| Return the tire mass. | |
| virtual ChVector | GetTireInertia () const override |
| Return the tire moments of inertia (in the tire centroidal frame). | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the rigid tire subsystem. | |
| virtual void | RemoveVisualizationAssets () override final |
| Remove visualization assets for the rigid tire subsystem. | |
 Public Member Functions inherited from chrono::vehicle::ChRigidTire | |
| ChRigidTire (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| void | SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0) |
| Set Wavefront OBJ file for contact mesh. More... | |
| bool | UseContactMesh () const |
| Check whether or not this tire uses a contact mesh. | |
| virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
| Report the tire force and moment. More... | |
| std::shared_ptr< ChMaterialSurface > | GetContactMaterial () const |
| Get the tire contact material. More... | |
| std::shared_ptr< geometry::ChTriangleMeshConnected > | GetContactMesh () const |
| Get the contact mesh. | |
| void | GetMeshVertexStates (std::vector< ChVector<>> &pos, std::vector< ChVector<>> &vel) const |
| Get the current state of the collision mesh. More... | |
| Public Member Functions inherited from chrono::vehicle::ChTire | |
| void | SetStepsize (double val) |
| Set the value of the integration step size for the underlying dynamics (if applicable). More... | |
| double | GetStepsize () const |
| Get the current value of the integration step size. | |
| void | SetCollisionType (CollisionType collision_type) |
| Set the collision type for tire-terrain interaction. More... | |
| double | GetSlipAngle () const |
| Return the tire slip angle calculated based on the current state of the associated wheel body. More... | |
| double | GetLongitudinalSlip () const |
| Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More... | |
| double | GetCamberAngle () const |
| Return the tire camber angle calculated based on the current state of the associated wheel body. More... | |
| virtual double | GetDeflection () const |
| Report the tire deflection. | |
| const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with tire visualization mesh. More... | |
| virtual void | Synchronize (double time, const ChTerrain &terrain) |
| Update the state of this tire system at the current time. More... | |
| virtual void | Advance (double step) |
| Advance the state of this tire by the specified time step. | |
| 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. | |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
| Export this subsystem's component list to the specified JSON object. More... | |
| virtual void | Output (ChVehicleOutput &database) const |
| Output data for this subsystem's component list to the specified database. | |
Additional Inherited Members | |
| Public Types inherited from chrono::vehicle::ChTire | |
| enum | CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE } |
| Static Public Member Functions inherited from chrono::vehicle::ChTire | |
| static ChVector | EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2) |
| Utility function for estimating the tire moments of inertia. More... | |
| 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 Member Functions inherited from chrono::vehicle::ChRigidTire | |
| virtual void | InitializeInertiaProperties () override final |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override final |
| Update subsystem inertia properties. More... | |
| virtual double | GetAddedMass () const override final |
| Get the mass added to the associated spindle body. More... | |
| virtual ChVector | GetAddedInertia () const override final |
| Get the inertia added to the associated spindle body. More... | |
| virtual TerrainForce | GetTireForce () const override final |
| Get the tire force and moment. More... | |
| virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
| Initialize this tire by associating it to the specified wheel. | |
| Protected Member Functions inherited from chrono::vehicle::ChTire | |
| ChTire (const std::string &name) | |
| Construct a tire subsystem with given name. | |
| void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
| Calculate kinematics quantities based on the given state of the associated wheel body. More... | |
| double | GetOffset () const |
| Get offset from spindle center. More... | |
| std::shared_ptr< ChTriangleMeshShape > | AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right) |
| Add mesh visualization to the body associated with this tire (a wheel spindle body). More... | |
| 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::ChTire | |
| static bool | DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection, using the specified method. More... | |
| static void | ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep) |
| Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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::ChRigidTire | |
| std::shared_ptr< ChMaterialSurface > | m_material |
| contact material; | |
| bool | m_use_contact_mesh |
| flag indicating use of a contact mesh | |
| std::string | m_contact_meshFile |
| name of the OBJ file for contact mesh | |
| double | m_sweep_sphere_radius |
| radius of sweeping sphere for mesh contact | |
| std::shared_ptr< geometry::ChTriangleMeshConnected > | m_trimesh |
| contact mesh | |
| std::shared_ptr< ChCylinderShape > | m_cyl_shape |
| visualization cylinder asset | |
| Protected Attributes inherited from chrono::vehicle::ChTire | |
| std::shared_ptr< ChWheel > | m_wheel |
| associated wheel subsystem | |
| double | m_stepsize |
| tire integration step size (if applicable) | |
| CollisionType | m_collision_type |
| method used for tire-terrain collision | |
| std::string | m_vis_mesh_file |
| name of OBJ file for visualization of this tire (may be empty) | |
| 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 | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/rccar/RCCar_RigidTire.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/rccar/RCCar_RigidTire.cpp
