Description

Namespace with classes for the VEHICLE module.

Namespaces
	citybus
	Namespace for the bus vehicle model.

	feda
	Namespace for the FED-alpha vehicle model.

	fmtv
	Namespace for the FMTV vehicle models.

	gator
	Namespace for the Gator vehicle model.

	generic
	Namespace for the generic wheeled vehicle model.

	hmmwv
	Namespace for the HMMWV vehicle model.

	kraz
	namespace for the Kraz truck vehicle model

	m113
	Namespace for the M113 track vehicle model.

	man
	Namespace for the MAN truck vehicle models.

	marder
	Namespace for the Marder track vehicle model.

	mrole
	Namespace for the MROLE multi-purpose wheeled vehicle model.

	rccar
	Namespace for the rccar vehicle model.

	sedan
	Namespace for the passenger vehicle model.

	TrackedCollisionFamily
	Enumerations for tracked vehicle collision families.

	TrackedCollisionFlag
	Enumerations for track collision flags.

	uaz
	Namespace for the UAZ vehicle model.

	WheeledCollisionFamily
	Enumerations for wheeled vehicle collision families.

Classes
class	AIDriver
	Driver. More...

class	ANCFTire
	ANCF tire constructed with data from file (JSON format). More...

class	AntirollBarRSD
	RSD antirollbar model constructed with data from file (JSON format). More...

class	Balancer
	Balancer subchassis system constructed with data from file. More...

struct	BodyState
	Structure to communicate a full body state. More...

class	BrakeShafts
	Wheeled vehicle shafts-based brake model constructed with data from file (JSON format). More...

class	BrakeSimple
	Vehicle simple brake model constructed with data from file (JSON format). More...

class	ChAdaptiveSpeedController
	Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...

class	ChAIDriver
	Driver. More...

class	ChANCFTire
	ANCF tire template. More...

class	ChAntirollBar
	Base class for an anti-roll bar subsystem. More...

class	ChAntirollBarRSD
	Template for an anti-roll subsystem using an RSD. More...

class	ChassisConnectorArticulated
	Articulated chassis connector model constructed with data from file (JSON format). More...

class	ChassisConnectorHitch
	Hitch chassis connector model constructed with data from file (JSON format). More...

class	ChassisConnectorTorsion
	Torsion chassis connector model constructed with data from file (JSON format). More...

class	ChAxle
	Base class for a suspension subsystem. More...

class	ChBalancer
	Template for a balancer subchassis system. More...

class	ChBrake
	Base class for a brake subsystem. More...

class	ChBrakeShafts
	Brake for wheeled vehicles modeled using a clutch between two shafts. More...

class	ChBrakeSimple
	Template for a simple brake subsystem. More...

class	ChChassis
	Base class for the chassis vehicle subsystem. More...

class	ChChassisConnector
	Base class for a chassis connector subsystem. More...

class	ChChassisConnectorArticulated
	Template for an articulation chassis connector. More...

class	ChChassisConnectorHitch
	Template for a hitch chassis connector. This is a passive connector, modeled with a spherical joint. More...

class	ChChassisConnectorTorsion
	Template for a torsion chassis connector. More...

class	ChChassisRear
	Base class for a rear chassis vehicle subsystem. More...

class	ChClosedLoopDriver
	Base class for closed-loop path-follower driver modesl. More...

class	ChDataDriver
	Driver inputs from data file. More...

class	ChDataDriverSTR
	Driver inputs for a suspension test rig from data file. More...

class	ChDataDriverTTR
	Driver inputs for a track test rig from data file. More...

class	ChDeformableTire
	Base class for a deformable tire model. More...

class	ChDistanceIdler
	Base class for an idler subsystem with a fixed distance tensioner. More...

class	ChDoubleTrackWheel
	Base class for a double track wheel (template definition). More...

class	ChDoubleWishbone
	Base class for a double-A arm suspension modeled with bodies and constraints. More...

class	ChDoubleWishboneReduced
	Base class for a double-A arm suspension modeled with distance constraints. More...

class	ChDriveline
	Base class for a vehicle driveline subsystem. More...

class	ChDrivelineTV
	Base class for a tracked vehicle driveline. More...

class	ChDrivelineWV
	Base class for a wheeled vehicle driveline subsystem. More...

class	ChDriver
	Base class for a vehicle driver system. More...

class	ChDriverSTR
	Base class for a suspension test rig driver system. More...

class	ChDriverTTR
	Base class for a track test rig driver system. More...

class	ChExternalDriver
	Driver. More...

class	ChFEATire
	Co-rotational FEA tire template. More...

class	ChFialaTire
	Fiala based tire model. More...

class	ChForceElementTire
	Base class for a force lement tire model. More...

class	ChHendricksonPRIMAXX
	Base class for a Hendrickson PRIMAXX EX suspension. More...

class	ChHumanDriver
	Closed-loop path-follower and speed maintaining driver model. More...

class	ChIdler
	Base class for an idler subsystem. More...

class	ChIrrGuiDriver
	Interactive driver model using keyboard inputs. More...

class	ChIrrGuiDriverSTR
	Irrlicht-based GUI driver for the a suspension test rig. More...

class	ChIrrGuiDriverTTR
	Irrlicht-based GUI driver for the a track test rig.This class implements the functionality required by its base ChDriverSTR class using keyboard inputs. More...

struct	ChIrrJoystickAxis
	Irrlicht interface to a specific joystick axis and its calibration data. More...

struct	ChIrrJoystickButton
	Irrlicht interface to a specific joystick button. More...

class	ChJSONWriter
	This is a helper class to generate serialized JSON messages that can be passed to/from Chrono. More...

class	ChLeafspringAxle
	Base class for a leaf-spring solid axle suspension. More...

class	ChMacPhersonStrut
	Base class for a MacPherson strut modeled with bodies and constraints. More...

class	ChMultiLink
	Base class for a multi-link suspension modeled with bodies and constraints. More...

class	ChPac02Tire
	Pacjeka 02 tire model. More...

class	ChPac89Tire
	Pacjeka 89 tire model. More...

class	ChPacejkaTire
	Concrete tire class that implements the Pacejka tire model. More...

class	ChPart
	Base class for a vehicle subsystem. More...

class	ChPathFollowerACCDriver
	Closed-loop path-follower driver model. More...

class	ChPathFollowerDriver
	Path-following driver system using a default PID lateral steering controller. More...

class	ChPathFollowerDriverSR
	Path-following driver system using a P-like lateral steering controller with variable path prediction. More...

class	ChPathFollowerDriverStanley
	Path-following driver system using a lateral steering controller as used on the Stanley AV. More...

class	ChPathFollowerDriverXT
	Path-following driver system using an extended PID lateral steering controller. More...

class	ChPathSteeringController
	Path-following steering PID controller. More...

class	ChPathSteeringControllerSR
	Path-following steering P-like controller with variable path prediction. More...

class	ChPathSteeringControllerStanley
	"Stanley" path-following ontroller named after an autonomous vehicle called Stanley. More...

class	ChPathSteeringControllerXT
	Path-following steering 3(2) channel PDT1/PT1 controller. More...

class	ChPitmanArm
	Base class for a Pitman Arm steering subsystem. More...

class	ChPitmanArmShafts
	Base class for a Pitman Arm steering subsystem with compliant steering column. More...

class	ChPowertrain
	Base class for a powertrain system. More...

class	ChRackPinion
	Base class for a Rack-Pinion steering subsystem. More...

class	ChReissnerTire
	Tire template for tires based on Reissner shells. More...

class	ChRigidChassis
	Template for a rigid-body main chassis vehicle subsystem. More...

class	ChRigidChassisRear
	Template for a rigid-body rear chassis vehicle subsystem. More...

class	ChRigidPinnedAxle
	Base class for a rigid suspension with a pinned axle. More...

class	ChRigidSuspension
	Base class for a rigid suspension, i.e. More...

class	ChRigidTire
	Rigid tire model. More...

class	ChRoadDriverTTR
	Driver inputs for a track test rig based on road profile. More...

class	ChRotaryArm
	Base class for a Toe Bar steering subsystem. More...

class	ChRotationalDamperSuspension
	Base class for a torsion-bar suspension system using a rotational damper (template definition). More...

class	ChSAELeafspringAxle
	Base class for a leaf-spring solid axle suspension. More...

class	ChSemiTrailingArm
	Base class for a semi-trailing arm suspension (non-steerable). More...

class	ChShaftsDriveline2WD
	2WD driveline model template based on ChShaft objects. More...

class	ChShaftsDriveline4WD
	4WD driveline model template based on ChShaft objects. More...

class	ChShaftsDriveline6WD
	4WD driveline model template based on ChShaft objects. More...

class	ChShaftsDriveline8WD
	4WD driveline model template based on ChShaft objects. More...

class	ChShaftsPowertrain
	Template for a powertrain model using shaft elements. More...

class	ChSimpleCVTPowertrain
	Template for simplified powertrain model. More...

class	ChSimpleDriveline
	Simple driveline model. More...

class	ChSimpleDrivelineXWD
	Simple driveline model. More...

class	ChSimpleMapPowertrain
	Template for simple powertrain model based on speed-torque engine maps. More...

class	ChSimplePowertrain
	Template for simplified powertrain model. More...

class	ChSimpleTrackDriveline
	Simple driveline model for a tracked vehicle. More...

class	ChSingleTrackWheel
	Base class for a single track wheel (template definition). More...

class	ChSingleWishbone
	Base class for a double-A arm suspension modeled with bodies and constraints. More...

class	ChSolidAxle
	Base class for a solid axle suspension modeled with bodies and constraints. More...

class	ChSolidBellcrankThreeLinkAxle
	Base class for a coil-spring or air-spring solid axle suspension, typically combined with the rotary arm steering. More...

class	ChSolidThreeLinkAxle
	Base class for a coil-spring or air-spring solid axle suspension. More...

class	ChSpeedController
	Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...

class	ChSprocket
	Base class for a tracked vehicle sprocket. More...

class	ChSprocketBand
	Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...

class	ChSprocketDoublePin
	Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...

class	ChSprocketSinglePin
	Base class for a sprocket template with gear profile composed of circular arcs. More...

class	ChSteering
	Base class for a steering subsystem. More...

class	ChSteeringController
	Base class for all steering path-following PID controllers. More...

class	ChSubchassis
	Base class for a sub-chassis system for wheeled vehicles. More...

class	ChSuspension
	Base class for a suspension subsystem. More...

class	ChSuspensionTestRig
	Base class for a suspension test rig. More...

class	ChSuspensionTestRigPlatform
	Definition of a suspension test rig using platforms to actuate the tires. More...

class	ChSuspensionTestRigPushrod
	Definition of a suspension test rig with direct actuation on the spindle bodies. More...

class	ChTerrain
	Base class for a terrain system. More...

class	ChThreeLinkIRS
	Base class for a 3-link independent rear suspension (non-steerable). More...

class	ChTire
	Base class for a tire system. More...

class	ChTireTestRig
	Definition of a single-tire test rig. More...

class	ChTMeasyTire
	TMeasy tire model. More...

class	ChToeBarLeafspringAxle
	Base class for a steerable leaf-spring solid axle suspension. More...

class	ChTrackAssembly
	Definition of a track assembly. More...

class	ChTrackAssemblyBand
	Definition of a continuous band track assembly. More...

class	ChTrackAssemblyBandANCF
	Definition of a continuous band track assembly using an ANCFshell-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...

class	ChTrackAssemblyBandBushing
	Definition of a continuous band track assembly using a bushing-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...

class	ChTrackAssemblyDoublePin
	Definition of a double-pin track assembly. More...

class	ChTrackAssemblySegmented
	Base class for segmented track assemblies. More...

class	ChTrackAssemblySinglePin
	Definition of a single-pin track assembly. More...

class	ChTrackBrake
	Base class for a tracked vehicle brake subsystem. More...

class	ChTrackBrakeShafts
	Brake for tracked vehicles modeled using a clutch between two shafts. More...

class	ChTrackBrakeSimple
	Simple brake created with constant torque opposing sprocket rotation. More...

class	ChTrackContactManager
	Class for monitoring contacts of tracked vehicle subsystems. More...

class	ChTrackCustomContact
	Callback interface for user-defined custom contact between road wheels and track shoes. More...

class	ChTrackDrivelineBDS
	Track driveline model template based on ChShaft objects. More...

class	ChTrackedVehicle
	Base class for chrono tracked vehicle systems. More...

class	ChTrackedVehicleVisualSystemIrrlicht
	Customized Chrono Irrlicht visualization system for tracked vehicle simulation. More...

class	ChTrackShoe
	Base class for a track shoe. More...

class	ChTrackShoeBand
	Base class for continuous band track shoes using rigid treads. More...

class	ChTrackShoeBandANCF
	Base class for a continuous band track shoe using an ANCFshell-based web. More...

class	ChTrackShoeBandBushing
	Base class for a continuous band track shoe using a bushing-based web. More...

class	ChTrackShoeDoublePin
	Base class for a double-pin track shoe (template definition). More...

class	ChTrackShoeSegmented
	Base class for segmented track shoes. More...

class	ChTrackShoeSinglePin
	Base class for a single-pin track shoe (template definition). More...

class	ChTrackSuspension
	Base class for a tracked vehicle suspension subsystem. More...

class	ChTrackTestRig
	Definition of a suspension test rig. More...

class	ChTrackTestRigVisualSystemIrrlicht
	Customized Chrono Irrlicht application for track test rig visualization. More...

class	ChTrackWheel
	Base class for a track wheel subsystem. More...

class	ChTranslationalDamperSuspension
	Base class for a torsion-bar suspension system using linear dampers (template definition). More...

class	ChTranslationalIdler
	Base class for an idler subsystem with a translational tensioner. More...

class	ChVehicle
	Base class for chrono vehicle systems. More...

struct	ChVehicleBushingData
	Stiffness and damping data for a vehicle bushing specification. More...

class	ChVehicleCosimBaseNode
	Base class for a co-simulation node. More...

class	ChVehicleCosimCuriosityNode
	Curiosity rover co-simulation node. More...

class	ChVehicleCosimDBPRig
	Base class for a drawbar-pull rig mechanism. More...

class	ChVehicleCosimDBPRigImposedAngVel
	Drawbar-pull rig mechanism with imposed angular velocity. More...

class	ChVehicleCosimDBPRigImposedSlip
	Drawbar-pull rig mechanism with imposed slip. More...

class	ChVehicleCosimOtherNode
	Definition of an additional MPI node not directly involved in co-simulation. More...

class	ChVehicleCosimRigNode
	Mechanism for a single-wheel testing rig. More...

class	ChVehicleCosimTerrainNode
	Base class for a terrain node. More...

class	ChVehicleCosimTerrainNodeChrono
	Base class for terrain nodes that use one of the Chrono terrain formulations. More...

class	ChVehicleCosimTerrainNodeGranularGPU
	Definition of the GPU granular terrain node (using Chrono::Gpu). More...

class	ChVehicleCosimTerrainNodeGranularMPI
	Definition of the MPI granular terrain node (using Chrono::Distributed). More...

class	ChVehicleCosimTerrainNodeGranularOMP
	Definition of the OpenMP granular terrain node (using Chrono::Multicore). More...

class	ChVehicleCosimTerrainNodeGranularSPH
	Definition of the SPH continuum representation of granular terrain node (using Chrono::FSI). More...

class	ChVehicleCosimTerrainNodeRigid
	Definition of the rigid terrain node (using Chrono::Multicore). More...

class	ChVehicleCosimTerrainNodeSCM
	Definition of the SCM deformable terrain node. More...

class	ChVehicleCosimTireNode
	Base class for all tire nodes. More...

class	ChVehicleCosimTireNodeBypass
	Definition of the bypass tire node. More...

class	ChVehicleCosimTireNodeFlexible
	Definition of the flexible tire node. More...

class	ChVehicleCosimTireNodeRigid
	Definition of the rigid tire node. More...

class	ChVehicleCosimTrackedMBSNode
	Base class for all MBS nodes with tracks. More...

class	ChVehicleCosimTrackedVehicleNode
	Tracked vehicle co-simulation node. More...

class	ChVehicleCosimViperNode
	Viper rover co-simulation node. More...

class	ChVehicleCosimWheeledMBSNode
	Base class for all MBS nodes with wheels. More...

class	ChVehicleCosimWheeledVehicleNode
	Wheeled vehicle co-simulation node. More...

class	ChVehicleGeometry
	Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle body. More...

class	ChVehicleJoint
	Wrapper class for a joint in a vehicle system which can be either a kinematic joint or a bushing. More...

class	ChVehicleOutput
	Base class for a vehicle output database. More...

class	ChVehicleOutputASCII
	ASCII text vehicle output database. More...

class	ChVehicleOutputHDF5
	HDF5 vehicle output database. More...

class	ChVehicleVisualSystemIrrlicht
	custom event receiver for chase-cam control More...

class	ChWheel
	Base class for a vehicle wheel subsystem. More...

class	ChWheeledTrailer
	Base class for chrono wheeled trailer systems. More...

class	ChWheeledVehicle
	Base class for chrono wheeled vehicle systems. More...

class	ChWheeledVehicleVisualSystemIrrlicht
	Customized Chrono Irrlicht visualization system for wheeled vehicle simulation. More...

class	ChWorldFrame
	Definition of the world frame for Chrono::Vehicle simulations. More...

class	CRGTerrain
	Concrete class for a (rigid) road loaded from an OpenCRG file. More...

class	DegressiveDamperForce
	Utility class for specifying a degressive translational damper force. More...

class	DistanceIdler
	Distance idler model constructed with data from file (JSON format). More...

class	DoubleTrackWheel
	Double track-wheel model constructed with data from file (JSON format). More...

class	DoubleWishbone
	Double-A arm suspension constructed with data from file. More...

class	DoubleWishboneReduced
	Reduced double-A arm suspension constructed with data from file. More...

struct	DriverInputs
	Driver (vehicle control) inputs. More...

class	FEADeformableTerrain
	FEA Deformable terrain model. More...

class	FEATire
	Co-rotational FEA tire constructed with data from file (JSON format). More...

class	FialaTire
	Fiala tire constructed with data from file (JSON format). More...

class	FlatTerrain
	Concrete class for a flat horizontal terrain. More...

class	GranularTerrain
	Granular terrain model. More...

class	HendricksonPRIMAXX
	Hendrickson PRIMAXX suspension constructed with data from file. More...

class	LeafspringAxle
	Leaf-spring solid axle suspension constructed with data from file. More...

class	LinearDamperForce
	Utility class for specifying a linear translational damper force. More...

class	LinearDamperTorque
	Utility class for specifying a linear rotational damper torque. More...

class	LinearSpringBistopForce
	Utility class for specifying a linear translational spring force with bump and rebound stop. More...

class	LinearSpringDamperForce
	Utility class for specifying a linear translational spring-damper force. More...

class	LinearSpringDamperTorque
	Utility class for specifying a linear rotational spring-damper torque. More...

class	LinearSpringForce
	Utility class for specifying a linear translational spring force. More...

class	LinearSpringTorque
	Utility class for specifying a linear rotational spring torque. More...

class	MacPhersonStrut
	MacPherson strut suspension constructed with data from file. More...

class	MapDamperForce
	Utility class for specifying a map translational damper force. More...

class	MapDamperTorque
	Utility class for specifying a map rotational damper torque. More...

class	MapSpringBistopForce
	Utility class for specifying a map translational spring force with bump and rebound stop. More...

class	MapSpringDamperForce
	Utility class for specifying a map translational spring-damper force with pre-tension. More...

class	MapSpringForce
	Utility class for specifying a map translational spring force. More...

class	MapSpringTorque
	Utility class for specifying a map rotational spring torque. More...

class	MultiLink
	Multi-link suspension constructed with data from file. More...

class	ObsModTerrain
	Concrete class for a flat horizontal terrain. More...

class	Pac02Tire
	PAC89 tire model from JSON file. More...

class	Pac89Tire
	PAC89 tire model from JSON file. More...

class	PacejkaTire
	Pacejka tire constructed with data from file (JSON format). More...

class	PitmanArm
	Pitman arm steering model constructed with data from file (JSON format). More...

class	RackPinion
	Rack-pinion steering model constructed with data from file (JSON format). More...

class	RandomSurfaceTerrain
	Terrain object representing an uneven area with controlled roughness. More...

class	ReissnerTire
	Tire with Reissner shells, constructed with data from file (JSON format). More...

class	RigidChassis
	Vehicle rigid chassis model constructed with data from file (JSON format). More...

class	RigidChassisRear
	Vehicle rigid rear chassis model constructed with data from file (JSON format). More...

class	RigidPinnedAxle
	Rigid suspension with pinned axle constructed with data from file. More...

class	RigidSuspension
	Rigid suspension constructed with data from file. More...

class	RigidTerrain
	Rigid terrain model. More...

class	RigidTire
	Rigid tire constructed with data from file (JSON format). More...

class	RotaryArm
	RotaryArm-pinion steering model constructed with data from file (JSON format). More...

class	RotationalDamperSuspension
	Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...

class	SAELeafspringAxle
	Leaf-spring solid axle suspension constructed with data from file. More...

class	SAEToeBarLeafspringAxle
	Steerable leaf-spring solid axle suspension constructed with data from file. More...

class	SCMContactableData
	Parameters for soil-contactable interaction. More...

class	SCMDeformableSoil
	Underlying implementation of the Soil Contact Model. More...

class	SCMDeformableTerrain
	Deformable terrain model. More...

class	SemiTrailingArm
	Semi-trailing arm suspension constructed with data from file. More...

class	ShaftsDriveline2WD
	2WD driveline model template based on ChShaft objects using data from file (JSON format). More...

class	ShaftsDriveline4WD
	4WD driveline model template based on ChShaft objects using data from file (JSON format). More...

class	ShaftsPowertrain
	Shafts-based powertrain subsystem (specified through JSON file). More...

class	SimpleCVTPowertrain
	Simple CVT-like powertrain subsystem (specified through JSON file). More...

class	SimpleDriveline
	Simple driveline model template using data from file (JSON format). More...

class	SimpleDrivelineXWD
	Simple driveline model template using data from file (JSON format). More...

class	SimpleMapPowertrain
	Simple speed-torque engine map powertrain subsystem (specified through JSON file). More...

class	SimplePowertrain
	Simple powertrain subsystem (specified through JSON file). More...

class	SimpleTrackDriveline
	Simple tracked vehicle driveline model template using data from file (JSON format). More...

class	SingleTrackWheel
	Single track-wheel model constructed with data from file (JSON format). More...

class	SingleWishbone
	Single A-arm suspension constructed with data from file. More...

class	SolidAxle
	Solid axle suspension constructed with data from file. More...

class	SolidBellcrankThreeLinkAxle
	solid axle suspension constructed with data from file. More...

class	SolidThreeLinkAxle
	Leaf-spring solid axle suspension constructed with data from file. More...

class	SprocketBand
	Tracked vehicle continuous-band sprocket model constructed with data from file (JSON format). More...

class	SprocketDoublePin
	Tracked vehicle double-pin sprocket model constructed with data from file (JSON format). More...

class	SprocketSinglePin
	Tracked vehicle single-pin sprocket model constructed with data from file (JSON format). More...

struct	TerrainForce
	Structure to communicate a set of generalized terrain contact forces (tire or track shoe). More...

class	ThreeLinkIRS
	Three-link Independent Rear Suspension constructed with data from file. More...

class	TMeasyTire
	TMeasy tire constructed with data from file (JSON format). More...

class	ToeBarLeafspringAxle
	Steerable leaf-spring solid axle suspension constructed with data from file. More...

class	TrackAssemblyBandANCF
	Band-ANCF track assembly model constructed from a JSON specification file. More...

class	TrackAssemblyBandBushing
	Band-bushing track assembly model constructed from a JSON specification file. More...

class	TrackAssemblyDoublePin
	Double-pin track assembly model constructed from a JSON specification file. More...

class	TrackAssemblySinglePin
	Single-pin track assembly model constructed from a JSON specification file. More...

class	TrackBrakeShafts
	Tracked vehicle shafts-based brake model constructed with data from file (JSON format). More...

class	TrackBrakeSimple
	Tracked vehicle simple brake model constructed with data from file (JSON format). More...

class	TrackDrivelineBDS
	BDS tracked vehicle driveline model template using data from file (JSON format). More...

class	TrackedVehicle
	Tracked vehicle model constructed from a JSON specification file. More...

class	TrackShoeBandANCF
	Band-ANCF track shoe with central guide constructed with data from file (JSON format). More...

class	TrackShoeBandBushing
	Band-bushing track shoe with central guide constructed with data from file (JSON format). More...

class	TrackShoeDoublePin
	Double-pin track shoe with central guide constructed with data from file (JSON format). More...

class	TrackShoeSinglePin
	Single-pin track shoe with central guide constructed with data from file (JSON format). More...

class	TranslationalDamperSuspension
	Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...

class	TranslationalIdler
	Translational idler model constructed with data from file (JSON format). More...

class	Wheel
	Vehicle wheel constructed with data from file (JSON format). More...

class	WheeledTrailer
	Wheeled trailer model constructed from a JSON specification file. More...

class	WheeledVehicle
	Wheeled vehicle model constructed from a JSON specification file. More...

struct	WheelState
	Structure to communicate a full wheel body state. More...

Typedefs
typedef std::vector< std::shared_ptr< ChChassisRear > >	ChChassisRearList
	Vector of handles to rear chassis subsystems.

typedef std::vector< std::shared_ptr< ChChassisConnector > >	ChChassisConnectorList
	Vector of handles to rear chassis subsystems.

typedef std::vector< BodyState >	BodyStates
	Vector of body state structures.

typedef std::vector< WheelState >	WheelStates
	Vector of wheel state structures.

typedef std::vector< TerrainForce >	TerrainForces
	Vector of terrain conatct force structures.

typedef std::vector< std::shared_ptr< ChSprocket > >	ChSprocketList
	Vector of handles to sprocket subsystems.

typedef std::vector< std::shared_ptr< ChTrackBrake > >	ChTrackBrakeList
	Vector of handles to brake subsystems.

typedef std::vector< std::shared_ptr< ChTrackShoe > >	ChTrackShoeList
	Vector of handles to track shoe subsystems.

typedef std::vector< std::shared_ptr< ChTrackSuspension > >	ChTrackSuspensionList
	Vector of handles to track suspension subsystems.

typedef std::vector< std::shared_ptr< ChTrackWheel > >	ChTrackWheelList
	Vector of track wheel subsystems.

typedef std::vector< std::shared_ptr< ChTrackShoeBand > >	ChTrackShoeBandList
	Vector of handles to continuous band track shoe subsystems.

typedef std::vector< std::shared_ptr< ChTrackShoeBandANCF > >	ChTrackShoeBandANCFList
	Vector of continuous band ANCFshell-based track shoe subsystems.

typedef std::vector< std::shared_ptr< ChTrackShoeBandBushing > >	ChTrackShoeBandBushingList
	Vector of continuous band bushing-based track shoe subsystems.

typedef std::vector< std::shared_ptr< ChTrackShoeDoublePin > >	ChTrackShoeDoublePinList
	Vector of double-pin track shoe subsystems.

typedef std::vector< std::shared_ptr< ChTrackShoeSinglePin > >	ChTrackShoeSinglePinList
	Vector of single-pin track shoe subsystems.

typedef std::vector< std::shared_ptr< ChAntirollBar > >	ChAntirollbarList
	Vector of handles to antirollbar subsystems.

typedef std::vector< std::shared_ptr< ChAxle > >	ChAxleList
	Vector of handles to axle subsystems.

typedef std::vector< std::shared_ptr< ChBrake > >	ChBrakeList
	Vector of handles to brake subsystems.

typedef std::vector< std::shared_ptr< ChSteering > >	ChSteeringList
	Vector of handles to steering subsystems.

typedef std::vector< std::shared_ptr< ChSubchassis > >	ChSubchassisList
	Vector of handles to subchassis subsystems.

typedef std::vector< std::shared_ptr< ChSuspension > >	ChSuspensionList
	Vector of handles to suspension subsystems.

typedef std::vector< std::shared_ptr< ChTire > >	ChTireList
	Vector of handles to tire subsystems.

typedef std::vector< std::shared_ptr< ChWheel > >	ChWheelList
	Vector of handles to wheel subsystems.

Enumerations
enum	CollisionType { CollisionType::NONE, CollisionType::PRIMITIVES, CollisionType::HULLS, CollisionType::MESH }
	Enumeration of collision model types. More...

enum	VehicleSide { LEFT = 0, RIGHT = 1 }
	Enum for the side (left/right) of a vehicle. More...

enum	WheelLocation { SINGLE = 0, INNER = 1, OUTER = 2 }
	Enum for wheel location on spindle. More...

enum	VisualizationType { VisualizationType::NONE, VisualizationType::PRIMITIVES, VisualizationType::MESH }
	Enum for visualization types. More...

enum	TireModelType { TireModelType::RIGID, TireModelType::RIGID_MESH, TireModelType::FIALA, TireModelType::ANCF, TireModelType::REISSNER, TireModelType::FEA, TireModelType::PAC89, TireModelType::TMEASY, TireModelType::PAC02 }
	Enum for available tire models. More...

enum	PowertrainModelType { PowertrainModelType::SHAFTS, PowertrainModelType::SIMPLE_MAP, PowertrainModelType::SIMPLE, PowertrainModelType::SIMPLE_CVT }
	Enum for available powertrain model templates. More...

enum	SuspensionTypeWV { SuspensionTypeWV::DOUBLE_WISHBONE, SuspensionTypeWV::DOUBLE_WISHBONE_REDUCED, SuspensionTypeWV::HENDRICKSON_PRIMAXX, SuspensionTypeWV::LEAF_SPRING_AXLE, SuspensionTypeWV::SAE_LEAF_SPRING_AXLE, SuspensionTypeWV::MACPHERSON_STRUT, SuspensionTypeWV::MULTI_LINK, SuspensionTypeWV::RIGID_PINNED, SuspensionTypeWV::RIGID_SUSPENSION, SuspensionTypeWV::SEMI_TRAILING_ARM, SuspensionTypeWV::SOLID_AXLE, SuspensionTypeWV::SOLID_THREE_LINK_AXLE, SuspensionTypeWV::SOLID_BELLCRANK_THREE_LINK_AXLE, SuspensionTypeWV::THREE_LINK_IRS, SuspensionTypeWV::TOE_BAR_LEAF_SPRING_AXLE, SuspensionTypeWV::SAE_TOE_BAR_LEAF_SPRING_AXLE }
	Enum for available wheeled-vehicle suspension model templates. More...

enum	BrakeType { BrakeType::SHAFTS, BrakeType::SIMPLE }
	Enum for available brake model templates. More...

enum	SteeringTypeWV { SteeringTypeWV::PITMAN_ARM, SteeringTypeWV::PITMAN_ARM_SHAFTS, SteeringTypeWV::RACK_PINION }
	Enum for available wheeled-vehicle steering model templates. More...

enum	DrivelineTypeWV { DrivelineTypeWV::FWD, DrivelineTypeWV::RWD, DrivelineTypeWV::AWD, DrivelineTypeWV::AWD6, DrivelineTypeWV::AWD8, DrivelineTypeWV::SIMPLE, DrivelineTypeWV::SIMPLE_XWD }
	Enum for wheeled-vehicle driveline types. More...

enum	DrivelineTypeTV { DrivelineTypeTV::BDS, DrivelineTypeTV::SIMPLE }
	Enum for tracked-vehicle driveline types. More...

enum	TrackShoeType { TrackShoeType::SINGLE_PIN, TrackShoeType::DOUBLE_PIN, TrackShoeType::BAND_BUSHING, TrackShoeType::BAND_ANCF }
	Enum for track shoe types. More...

enum	DoublePinTrackShoeType { DoublePinTrackShoeType::TWO_CONNECTORS, DoublePinTrackShoeType::ONE_CONNECTOR }
	Topology of the double-pin track shoe. More...

enum	GuidePinType { GuidePinType::CENTRAL_PIN, GuidePinType::LATERAL_PIN }
	Enum for guide pin (track shoe/roadwheel/idler). More...

enum	OutputInformation { OUT_SPRINGS = 1 << 0, OUT_SHOCKS = 1 << 1, OUT_CONSTRAINTS = 1 << 2, OUT_TESTRIG = 1 << 3 }
	Flags for output (log/debug). More...

enum	BodyID { CHASSIS_BODY = -99990, SPROCKET_BODY = -99991, IDLER_BODY = -99992, WHEEL_BODY = -99993, ROLER_BODY = -99994, SHOE_BODY = -99995 }
	Identifiers for specific component bodies.

Functions
void	SetDataPath (const std::string &path)
	Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).

const std::string &	GetDataPath ()
	Get the current path to the Chrono::Vehicle data directory (thread safe).

std::string	GetDataFile (const std::string &filename)
	Get the complete path to the specified filename (thread safe). More...

std::string	format_number (int num, int precision)

bool	calcBarycentricCoordinates (const ChVector<> &v1, const ChVector<> &v2, const ChVector<> &v3, const ChVector<> &v, double &a1, double &a2, double &a3)

void	ReadFileJSON (const std::string &filename, Document &d)

ChVector	ReadVectorJSON (const Value &a)

ChQuaternion	ReadQuaternionJSON (const Value &a)

ChColor	ReadColorJSON (const Value &a)

ChContactMaterialData	ReadMaterialInfoJSON (const rapidjson::Value &mat)

std::shared_ptr< ChVehicleBushingData >	ReadBushingDataJSON (const rapidjson::Value &bd)

std::shared_ptr< ChChassis >	ReadChassisJSON (const std::string &filename)
	Load and return a chassis subsystem from the specified JSON file.

std::shared_ptr< ChChassisRear >	ReadChassisRearJSON (const std::string &filename)
	Load and return a rear chassis subsystem from the specified JSON file.

std::shared_ptr< ChChassisConnector >	ReadChassisConnectorJSON (const std::string &filename)
	Load and return a chassis connector subsystem from the specified JSON file.

std::shared_ptr< ChPowertrain >	ReadPowertrainJSON (const std::string &filename)
	Load and return a powertrain subsystem from the specified JSON file.

std::shared_ptr< ChSuspension >	ReadSuspensionJSON (const std::string &filename)
	Load and return a suspension subsystem from the specified JSON file.

std::shared_ptr< ChSteering >	ReadSteeringJSON (const std::string &filename)
	Load and return a steering subsystem from the specified JSON file.

std::shared_ptr< ChDrivelineWV >	ReadDrivelineWVJSON (const std::string &filename)
	Load and return a driveline subsystem from the specified JSON file.

std::shared_ptr< ChAntirollBar >	ReadAntirollbarJSON (const std::string &filename)
	Load and return a steering subsystem from the specified JSON file.

std::shared_ptr< ChWheel >	ReadWheelJSON (const std::string &filename)
	Load and return a steering subsystem from the specified JSON file.

std::shared_ptr< ChSubchassis >	ReadSubchassisJSON (const std::string &filename)
	Load and return a subchassis subsystem from the specified JSON file.

std::shared_ptr< ChBrake >	ReadBrakeJSON (const std::string &filename)
	Load and return a steering subsystem from the specified JSON file.

std::shared_ptr< ChTire >	ReadTireJSON (const std::string &filename)
	Load and return a tire from the specified JSON file.

std::shared_ptr< ChTrackAssembly >	ReadTrackAssemblyJSON (const std::string &filename)
	Load and return a track assembly from the specified JSON file.

std::shared_ptr< ChDrivelineTV >	ReadDrivelineTVJSON (const std::string &filename)
	Load and return a track driveline from the specified JSON file.

std::shared_ptr< ChTrackBrake >	ReadTrackBrakeJSON (const std::string &filename)
	Load and return a track brake from the specified JSON file.

std::shared_ptr< ChIdler >	ReadIdlerJSON (const std::string &filename)
	Load and return an idler from the specified JSON file.

std::shared_ptr< ChTrackSuspension >	ReadTrackSuspensionJSON (const std::string &filename, bool has_shock, bool lock_arm)
	Load and return a track suspension from the specified JSON file.

std::shared_ptr< ChTrackWheel >	ReadTrackWheelJSON (const std::string &filename)
	Load and return a road-wheel from the specified JSON file.

CH_VEHICLE_API void	ReadFileJSON (const std::string &filename, rapidjson::Document &d)
	Load and return a RapidJSON document from the specified file. More...

CH_VEHICLE_API ChVector	ReadVectorJSON (const rapidjson::Value &a)
	Load and return a ChVector from the specified JSON array.

CH_VEHICLE_API ChQuaternion	ReadQuaternionJSON (const rapidjson::Value &a)
	Load and return a ChQuaternion from the specified JSON array.

CH_VEHICLE_API ChColor	ReadColorJSON (const rapidjson::Value &a)
	Load and return a ChColor from the specified JSON array.

std::shared_ptr< ChBezierCurve >	StraightLinePath (const ChVector<> &start, const ChVector<> end, unsigned int num_intermediate=0)
	Straight line path between the two specified end points. More...

std::shared_ptr< ChBezierCurve >	CirclePath (const ChVector<> &start, double radius, double run, bool left_turn=true, int num_turns=1)
	Circular path with an initial straight-line run in the X direction. More...

std::shared_ptr< ChBezierCurve >	DoubleLaneChangePath (const ChVector<> &start, double ramp, double width, double length, double run, bool left_turn=true)
	Double lane change path with initial and final runs in the X direction. More...

double	VolumeCyl (double r_outer, double r_inner, double cyl_height)

double	InertiaRotCyl (double mass, double r_outer, double r_inner)

double	InertiaTipCyl (double mass, double r_outer, double r_inner, double cyl_height)

void	differentialSplitXWD (double torque, double max_bias, double speed_left, double speed_right, double &torque_left, double &torque_right)

std::vector< std::string > &	splitStr (const std::string &s, char delim, std::vector< std::string > &elems)

std::vector< std::string >	splitStr (const std::string &s, char delim)

template<class T >
T	fromString (const std::string &s)

template<class T >
T	fromTline (const std::string &tline)

void	AttachNodeToShell (std::shared_ptr< ChMesh > m_mesh, std::shared_ptr< ChNodeFEAxyz > m_node)

Variables
const double	EXTRA_HEIGHT = 1.0

const int	JoystickProcessFrequency = 16

const int	JoystickOutputFrequency = 32

const double	rpm2rads = CH_C_PI / 30

const double	safety_factor = 1.001

const double	offset_factor = 3

const double	kN2N = 1000.0

const double	N2kN = 0.001

Enumeration Type Documentation

◆ CollisionType

enum chrono::vehicle::CollisionType

strong

Enumeration of collision model types.

Enumerator
NONE	no contact shapes
PRIMITIVES	contact model composed of primitives
HULLS	contact model composed of convex hulls
MESH	contact model composed of trimeshes

Function Documentation

◆ CirclePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::CirclePath	(	const ChVector<> &	start,
		double	radius,
		double	run,
		bool	left_turn = `true`,
		int	num_turns = `1`
	)

Circular path with an initial straight-line run in the X direction.

The generated curve loops around the circle for a specified number of times.

Example: left circle path

                    __<__         Y
                  /       \       ^
                 /         \      |
                |     o     |     +---> X
                 \         /
 ________>________\ __>__ /
        run

Parameters

start	start point
radius	circle radius
run	length of initial straight line
left_turn	left turn (true), right turn (false)
num_turns	number of turns around circle

◆ DoubleLaneChangePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::DoubleLaneChangePath	(	const ChVector<> &	start,
		double	ramp,
		double	width,
		double	length,
		double	run,
		bool	left_turn = `true`
	)

Double lane change path with initial and final runs in the X direction.

Example: left double lane change path

                                         Y
                                         ^
                  ______>______          |
                 /             \         +---> X
               /                 \       | 
_____>______ /                     \ ______>_______
    run       ramp   length    ramp      run

Parameters

start	start point
ramp	length of ramp sections
width	lane separation
length	distance in lane
run	length of initial and final straight lines
left_turn	left turn (true), right turn (false)

◆ ReadFileJSON()

CH_VEHICLE_API void chrono::vehicle::ReadFileJSON	(	const std::string &	filename,
		rapidjson::Document &	d
	)

Load and return a RapidJSON document from the specified file.

A Null document is returned if the file cannot be opened.

◆ StraightLinePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::StraightLinePath	(	const ChVector<> &	start,
		const ChVector<>	end,
		unsigned int	num_intermediate = `0`
	)

Straight line path between the two specified end points.

Intermediate points can be optionally included.

Parameters

start	start point
end	end point
num_intermediate	number of intermediate points

Description

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ CollisionType

Function Documentation

◆ CirclePath()

◆ DoubleLaneChangePath()

◆ ReadFileJSON()

◆ StraightLinePath()