Description

Base class for chrono vehicle systems.

The reference frame for a vehicle follows the ISO standard: Z-axis up, X-axis pointing forward, and Y-axis towards the left of the vehicle.

#include <ChVehicle.h>

Inheritance diagram for chrono::vehicle::ChVehicle:

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Collaboration diagram for chrono::vehicle::ChVehicle:

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Public Member Functions
virtual	~ChVehicle ()
	Destructor.

const std::string &	GetName () const
	Get the name identifier for this vehicle.

void	SetName (const std::string &name)
	Set the name identifier for this vehicle.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle system template.

ChSystem *	GetSystem ()
	Get a pointer to the Chrono ChSystem.

double	GetChTime () const
	Get the current simulation time of the underlying ChSystem.

std::shared_ptr< ChChassis >	GetChassis () const
	Get a handle to the vehicle's main chassis subsystem.

std::shared_ptr< ChChassisRear >	GetChassisRear (int id) const
	Get the specified specified rear chassis subsystem.

std::shared_ptr< ChChassisConnector >	GetChassisConnector (int id) const
	Get a handle to the specified chassis connector.

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const
	Get a handle to the vehicle's chassis body.

std::shared_ptr< ChBodyAuxRef >	GetChassisRearBody (int id) const
	Get a handle to the specified rear chassis body.

std::shared_ptr< ChPowertrainAssembly >	GetPowertrainAssembly () const
	Get the powertrain attached to this vehicle.

std::shared_ptr< ChEngine >	GetEngine () const
	Get the engine in the powertrain assembly (if a powertrain is attached).

std::shared_ptr< ChTransmission >	GetTransmission () const
	Get the transmission in the powertrain assembly (if a powertrain is attached).

double	GetMass () const
	Get the vehicle total mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current vehicle inertia (relative to the vehicle COM frame).

const ChFrameMoving &	GetRefFrame () const
	Get the current vehicle reference frame. More...

const ChFrame &	GetTransform () const
	Get the current vehicle transform relative to the global frame. More...

const ChVector3d &	GetPos () const
	Get the vehicle global location. More...

ChQuaternion	GetRot () const
	Get the vehicle orientation. More...

double	GetRoll () const
	Get vehicle roll angle. More...

double	GetPitch () const
	Get vehicle pitch angle. More...

double	GetRoll (const ChTerrain &terrain) const
	Get vehicle roll angle (relative to local terrain). More...

double	GetPitch (const ChTerrain &terrain) const
	Get vehicle pitch angle (relative to local terrain). More...

double	GetSpeed () const
	Get the vehicle speed (velocity component in the vehicle forward direction). More...

double	GetSlipAngle () const
	Get the vehicle slip angle. More...

double	GetRollRate () const
	Get the vehicle roll rate. More...

double	GetPitchRate () const
	Get the vehicle pitch rate. More...

double	GetYawRate () const
	Get the vehicle yaw rate. More...

double	GetTurnRate () const
	Get the vehicle turn rate. More...

ChVector3d	GetPointLocation (const ChVector3d &locpos) const
	Get the global position of the specified point. More...

ChVector3d	GetPointVelocity (const ChVector3d &locpos) const
	Get the global velocity of the specified point. More...

ChVector3d	GetPointAcceleration (const ChVector3d &locpos) const
	Get the acceleration at the specified point. More...

ChVector3d	GetDriverPos () const
	Get the global location of the driver.

void	EnableRealtime (bool val)
	Enable/disable soft real-time (default: false). More...

double	GetRTF () const
	Get current estimated RTF (real time factor). More...

double	GetStepRTF () const
	Get current estimated step RTF (real time factor). More...

void	SetCollisionSystemType (ChCollisionSystem::Type collsys_type)
	Change the default collision detection system. More...

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system. More...

void	SetOutput (ChVehicleOutput::Type type, std::ostream &out_stream, double output_step)
	Enable output for this vehicle system using an existing output stream. More...

virtual void	Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0)
	Initialize this vehicle at the specified global location and orientation. More...

void	InitializePowertrain (std::shared_ptr< ChPowertrainAssembly > powertrain)
	Initialize the given powertrain assembly and associate it to this vehicle. More...

virtual void	InitializeInertiaProperties ()=0
	Calculate total vehicle mass from subsystems. More...

void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem.

void	SetChassisRearVisualizationType (VisualizationType vis)
	Set visualization mode for the rear chassis subsystems.

void	SetChassisCollide (bool state)
	Enable/disable collision for the chassis subsystem. More...

virtual void	SetChassisVehicleCollide (bool state)
	Enable/disable collision between the chassis and all other vehicle subsystems. More...

void	SetChassisOutput (bool state)
	Enable/disable output from the chassis subsystem.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

virtual void	Advance (double step)
	Advance the state of this vehicle by the specified time step. More...

virtual void	LogConstraintViolations ()=0
	Log current constraint violations.

virtual std::string	ExportComponentList () const =0
	Return a JSON string with information on all modeling components in the vehicle system. More...

virtual void	ExportComponentList (const std::string &filename) const =0
	Write a JSON-format file with information on all modeling components in the vehicle system. More...

virtual void	Output (int frame, ChVehicleOutput &database) const =0
	Output data for all modeling components in the vehicle system.

Protected Member Functions
	ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with an underlying ChSystem. More...

	ChVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

void	SetSystem (ChSystem *sys)
	Set the associated Chrono system.

virtual void	UpdateInertiaProperties ()=0
	Calculate current vehicle inertia properties from subsystems. More...

Static Protected Member Functions
template<typename T >
static bool	AnyOutput (const std::vector< std::shared_ptr< T >> &list)
	Utility function for testing if any subsystem in a list generates output.

Protected Attributes
std::string	m_name
	vehicle name

ChSystem *	m_system
	pointer to the Chrono system

bool	m_ownsSystem
	true if system created at construction

double	m_mass
	total vehicle mass

ChFrame	m_com
	current vehicle COM (relative to the vehicle reference frame)

ChMatrix33	m_inertia
	current total vehicle inertia (Relative to the vehicle COM frame)

bool	m_output
	generate ouput for this vehicle system

ChVehicleOutput *	m_output_db
	vehicle output database

double	m_output_step
	output time step

double	m_next_output_time
	time for next output

int	m_output_frame
	current output frame

std::shared_ptr< ChChassis >	m_chassis
	handle to the main chassis subsystem

ChChassisRearList	m_chassis_rear
	list of rear chassis subsystems (can be empty)

ChChassisConnectorList	m_chassis_connectors
	list of chassis connector (must match m_chassis_rear)

std::shared_ptr< ChPowertrainAssembly >	m_powertrain_assembly
	associated powertrain system

Friends
class	ChVehicleCosimWheeledVehicleNode

class	ChVehicleCosimTrackedVehicleNode

Constructor & Destructor Documentation

◆ ChVehicle() [1/2]

chrono::vehicle::ChVehicle::ChVehicle	(	const std::string &	name,
		ChContactMethod	contact_method = `ChContactMethod::NSC`
	)

protected

Construct a vehicle system with an underlying ChSystem.

Parameters

[in]	name	vehicle name
[in]	contact_method	contact method

◆ ChVehicle() [2/2]

chrono::vehicle::ChVehicle::ChVehicle	(	const std::string &	name,
		ChSystem *	system
	)

protected

Construct a vehicle system using the specified ChSystem.

All physical components of the vehicle will be added to that system.

Parameters

[in]	name	vehicle name
[in]	system	containing mechanical system

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChVehicle::Advance ( double step )

virtual

Advance the state of this vehicle by the specified time step.

A call to ChSystem::DoStepDynamics is done only if the vehicle owns the underlying Chrono system. Otherwise, the caller is responsible for advancing the sate of the entire system.

Reimplemented in chrono::vehicle::ChWheeledVehicle, chrono::vehicle::ChTrackedVehicle, and chrono::vehicle::ChTrackTestRig.

◆ EnableRealtime()

void chrono::vehicle::ChVehicle::EnableRealtime ( bool val )

Enable/disable soft real-time (default: false).

If enabled, a spinning timer is used to maintain simulation time in sync with real time. This function should be called right before the main simulation loop, since it starts the embedded ChTimer.

◆ ExportComponentList() [1/2]

virtual std::string chrono::vehicle::ChVehicle::ExportComponentList ( ) const

pure virtual

Return a JSON string with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ ExportComponentList() [2/2]

virtual void chrono::vehicle::ChVehicle::ExportComponentList ( const std::string & filename ) const

pure virtual

Write a JSON-format file with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ GetCOMFrame()

const ChFrame& chrono::vehicle::ChVehicle::GetCOMFrame ( ) const

inline

Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame).

This is a frame aligned with the vehicle reference frame and origin at the current vehicle COM.

◆ GetMass()

double chrono::vehicle::ChVehicle::GetMass ( ) const

inline

Get the vehicle total mass.

This includes the mass of the chassis and all vehicle subsystems.

◆ GetPitch() [1/2]

double chrono::vehicle::ChVehicle::GetPitch ( ) const

Get vehicle pitch angle.

This version returns the pitch angle with respect to the absolte frame; as such, this is a proper representation of vehicle pitch only on flat horizontal terrain. In the ISO frame convention, a positive pitch angle corresponds to the vehicle front dipping (e.g., during braking).

◆ GetPitch() [2/2]

double chrono::vehicle::ChVehicle::GetPitch ( const ChTerrain & terrain ) const

Get vehicle pitch angle (relative to local terrain).

This version returns the pitch angle relative to the terrain normal at a point below the vehicle position; as such, this is a reasonable approximation of local vehicle pitch only on relatively flat (but not necessarily horizontal) terrains. In the ISO frame convention, a positive pitch angle corresponds to the vehicle front dipping below the terrain plane.

◆ GetPitchRate()

double chrono::vehicle::ChVehicle::GetPitchRate ( ) const

inline

Get the vehicle pitch rate.

The pitch rate is referenced to the chassis frame.

◆ GetPointAcceleration()

ChVector3d chrono::vehicle::ChVehicle::GetPointAcceleration ( const ChVector3d & locpos ) const

inline

Get the acceleration at the specified point.

The point is assumed to be given relative to the main chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

◆ GetPointLocation()

ChVector3d chrono::vehicle::ChVehicle::GetPointLocation ( const ChVector3d & locpos ) const

inline

Get the global position of the specified point.

The point is assumed to be given relative to the main chassis reference frame. The returned location is expressed in the global reference frame.

◆ GetPointVelocity()

ChVector3d chrono::vehicle::ChVehicle::GetPointVelocity ( const ChVector3d & locpos ) const

inline

Get the global velocity of the specified point.

The point is assumed to be given relative to the main chassis reference frame. The returned velocity is expressed in the global reference frame.

◆ GetPos()

const ChVector3d& chrono::vehicle::ChVehicle::GetPos ( ) const

inline

Get the vehicle global location.

This is the global location of the main chassis reference frame origin.

◆ GetRefFrame()

const ChFrameMoving& chrono::vehicle::ChVehicle::GetRefFrame ( ) const

inline

Get the current vehicle reference frame.

This is the same as the reference frame of the chassis.

◆ GetRoll() [1/2]

double chrono::vehicle::ChVehicle::GetRoll ( ) const

Get vehicle roll angle.

This version returns the roll angle with respect to the absolte frame; as such, this is a proper representation of vehicle roll only on flat horizontal terrain. In the ISO frame convention, a positive roll angle corresponds to the vehicle left side lifting (e.g., in a turn to the left).

◆ GetRoll() [2/2]

double chrono::vehicle::ChVehicle::GetRoll ( const ChTerrain & terrain ) const

Get vehicle roll angle (relative to local terrain).

This version returns the roll angle relative to the terrain normal at a point below the vehicle position; as such, this is a reasonable approximation of local vehicle roll only on relatively flat (but not necessarily horizontal) terrains. In the ISO frame convention, a positive roll angle corresponds to the vehicle left side lifting above the terrain plane.

◆ GetRollRate()

double chrono::vehicle::ChVehicle::GetRollRate ( ) const

inline

Get the vehicle roll rate.

The roll rate is referenced to the chassis frame.

◆ GetRot()

ChQuaternion chrono::vehicle::ChVehicle::GetRot ( ) const

inline

Get the vehicle orientation.

This is the main chassis orientation, returned as a quaternion representing a rotation with respect to the global reference frame.

◆ GetRTF()

double chrono::vehicle::ChVehicle::GetRTF ( ) const

inline

Get current estimated RTF (real time factor).

Note that the "true" RTF is returned, even if soft real-time is enforced. This represents the real time factor for advancing the dynamic state of the system only and as such does not take into account any other operations performed during a step (e.g., run-time visualization). During each call to Advance(), this value is calculated as T/step_size, where T includes the time spent in system setup, collision detection, and integration.

◆ GetSlipAngle()

double chrono::vehicle::ChVehicle::GetSlipAngle ( ) const

Get the vehicle slip angle.

This represents the angle betwwen the forward vehicle X axis and the vehicle velocity vector (calculated at the origin of the vehicle frame). The return value is in radians with a positive sign for a left turn and a negative sign for a right turn.

◆ GetSpeed()

double chrono::vehicle::ChVehicle::GetSpeed ( ) const

inline

Get the vehicle speed (velocity component in the vehicle forward direction).

Return the speed measured at the origin of the main chassis reference frame.

◆ GetStepRTF()

double chrono::vehicle::ChVehicle::GetStepRTF ( ) const

inline

Get current estimated step RTF (real time factor).

Unlike the value returned by GetRTF(), this represents the real time factor for all calculations performed during a simulation step, including any other operations in addition to advancing the dynamic state of the system (run-time visualization, I/O, etc.). This RTF value is calculated as T/step_size, where T represents the time from the previous call to Advance().

◆ GetTransform()

const ChFrame& chrono::vehicle::ChVehicle::GetTransform ( ) const

inline

Get the current vehicle transform relative to the global frame.

This is the same as the global transform of the main chassis.

◆ GetTurnRate()

double chrono::vehicle::ChVehicle::GetTurnRate ( ) const

inline

Get the vehicle turn rate.

Unlike the yaw rate (referenced to the chassis frame), the turn rate is referenced to the global frame.

◆ GetYawRate()

double chrono::vehicle::ChVehicle::GetYawRate ( ) const

inline

Get the vehicle yaw rate.

The yaw rate is referenced to the chassis frame.

◆ Initialize()

void chrono::vehicle::ChVehicle::Initialize	(	const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel = `0`
	)

virtual

Initialize this vehicle at the specified global location and orientation.

Derived classes must invoke this base class implementation after they initialize all their subsystem.

Parameters

[in]	chassisPos	initial global position and orientation
[in]	chassisFwdVel	initial chassis forward velocity

◆ InitializeInertiaProperties()

virtual void chrono::vehicle::ChVehicle::InitializeInertiaProperties ( )

pure virtual

Calculate total vehicle mass from subsystems.

This function is called at the end of the vehicle initialization, but can also be called explicitly.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ InitializePowertrain()

void chrono::vehicle::ChVehicle::InitializePowertrain ( std::shared_ptr< ChPowertrainAssembly > powertrain )

Initialize the given powertrain assembly and associate it to this vehicle.

The powertrain is initialized by connecting it to this vehicle's chassis and driveline shaft.

◆ SetChassisCollide()

void chrono::vehicle::ChVehicle::SetChassisCollide ( bool state )

Enable/disable collision for the chassis subsystem.

This function controls contact of the chassis with all other collision shapes in the simulation.

◆ SetChassisVehicleCollide()

virtual void chrono::vehicle::ChVehicle::SetChassisVehicleCollide ( bool state )

inlinevirtual

Enable/disable collision between the chassis and all other vehicle subsystems.

Note that some of these collisions may be always disabled, as set by the particular derived vehicle class.

Reimplemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

◆ SetCollisionSystemType()

void chrono::vehicle::ChVehicle::SetCollisionSystemType ( ChCollisionSystem::Type collsys_type )

Change the default collision detection system.

Note that this function should be called before initialization of the vehicle system in order to create consistent collision models.

◆ SetOutput() [1/2]

void chrono::vehicle::ChVehicle::SetOutput	(	ChVehicleOutput::Type	type,
		const std::string &	out_dir,
		const std::string &	out_name,
		double	output_step
	)

Enable output for this vehicle system.

Parameters

[in]	type	type of output DB
[in]	out_dir	output directory name
[in]	out_name	rootname of output file
[in]	output_step	interval between output times

◆ SetOutput() [2/2]

void chrono::vehicle::ChVehicle::SetOutput	(	ChVehicleOutput::Type	type,
		std::ostream &	out_stream,
		double	output_step
	)

Enable output for this vehicle system using an existing output stream.

Parameters

[in]	type	type of output DB
[in]	out_stream	output stream
[in]	output_step	interval between output times

◆ UpdateInertiaProperties()

virtual void chrono::vehicle::ChVehicle::UpdateInertiaProperties ( )

protectedpure virtual

Calculate current vehicle inertia properties from subsystems.

This function is called at the end of each vehicle state advance.

Implemented in chrono::vehicle::ChWheeledVehicle, and chrono::vehicle::ChTrackedVehicle.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/ChVehicle.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChVehicle.cpp

Description

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ ChVehicle() [1/2]

◆ ChVehicle() [2/2]

Member Function Documentation

◆ Advance()

◆ EnableRealtime()

◆ ExportComponentList() [1/2]

◆ ExportComponentList() [2/2]

◆ GetCOMFrame()

◆ GetMass()

◆ GetPitch() [1/2]

◆ GetPitch() [2/2]

◆ GetPitchRate()

◆ GetPointAcceleration()

◆ GetPointLocation()

◆ GetPointVelocity()

◆ GetPos()

◆ GetRefFrame()

◆ GetRoll() [1/2]

◆ GetRoll() [2/2]

◆ GetRollRate()

◆ GetRot()

◆ GetRTF()

◆ GetSlipAngle()

◆ GetSpeed()

◆ GetStepRTF()

◆ GetTransform()

◆ GetTurnRate()

◆ GetYawRate()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ InitializePowertrain()

◆ SetChassisCollide()

◆ SetChassisVehicleCollide()

◆ SetCollisionSystemType()

◆ SetOutput() [1/2]

◆ SetOutput() [2/2]

◆ UpdateInertiaProperties()