Description

PAC89 tire model from JSON file.

#include <Pac02Tire.h>

Inheritance diagram for chrono::vehicle::Pac02Tire:

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Collaboration diagram for chrono::vehicle::Pac02Tire:

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Public Member Functions
	Pac02Tire (const std::string &filename)

	Pac02Tire (const rapidjson::Document &d)

virtual double	GetTireMass () const override
	Return the tire mass.

virtual ChVector3d	GetTireInertia () const override
	Return the tire moments of inertia (in the tire centroidal frame).

virtual double	GetVisualizationWidth () const override
	Get visualization width.

virtual void	SetMFParams () override
	Set the parameters in the Pac02 model.

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::ChPac02Tire
	ChPac02Tire (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual double	GetRadius () const override
	Get the tire radius.

void	SetGammaLimit (double gamma_limit)
	Set the limit for camber angle (in degrees). Default: 3 degrees.

virtual double	GetWidth () const override
	Get the width of the tire.

virtual double	GetDeflection () const override
	Get the tire deflection.

double	GetSlipAngle_internal () const
	Get the slip angle used in Pac02 (expressed in radians). More...

double	GetLongitudinalSlip_internal () const
	Get the longitudinal slip used in Pac89. More...

virtual double	GetNormalStiffnessForce (double depth) const override
	Return the vertical tire stiffness contribution to the normal force.

virtual double	GetNormalDampingForce (double depth, double velocity) const override
	Return the vertical tire damping contribution to the normal force.

double	GetMuRoad ()

double	GetLongitudinalGripSaturation ()

double	GetLateralGripSaturation ()

Public Member Functions inherited from chrono::vehicle::ChForceElementTire
virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual TerrainForce	ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Report the tire forces expressed in the tire frame. More...

const ContactData &	ReportTireContactData () const
	Report current tire-terrain contact information. More...

void	SetVerbose (bool verbose)
	Enable/disable information terminal output (default: false).

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...

void	SetPressure (double pressure)
	Set the internal tire pressure [Pa]. More...

double	GetPressure () const
	Get the internal tire pressure [Pa].

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...

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. More...

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.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

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 ChVector3d	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 ChVector3d &moments, const ChVector3d &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::ChPac02Tire
double	CalcMx (double Fy, double Fz, double gamma)

double	CalcMy (double Fx, double Fz, double gamma)

void	CalcFxyMz (double &Fx, double &Fy, double &Mz, double kappa, double alpha, double Fz, double gamma)

double	CalcSigmaK (double Fz)

double	CalcSigmaA (double Fz)

void	CombinedCoulombForces (double &fx, double &fy, double fz)

void	SetMFParamsByFile (const std::string &tirFileName)

void	LoadSectionUnits (FILE *fp)

void	LoadSectionModel (FILE *fp)

void	LoadSectionDimension (FILE *fp)

void	LoadSectionVertical (FILE *fp)

void	LoadSectionScaling (FILE *fp)

void	LoadSectionLongitudinal (FILE *fp)

void	LoadSectionOverturning (FILE *fp)

void	LoadSectionLateral (FILE *fp)

void	LoadSectionRolling (FILE *fp)

void	LoadSectionConditions (FILE *fp)

void	LoadSectionAligning (FILE *fp)

void	LoadVerticalTable (FILE *fp)

void	LoadBottomingTable (FILE *fp)

bool	FindSectionStart (const std::string &sectName, FILE *fp)

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, const ChTerrain &terrain) override
	Update the state of this tire system at the current time. More...

virtual void	Advance (double step) override
	Advance the state of this tire by the specified time step.

Protected Member Functions inherited from chrono::vehicle::ChForceElementTire
	ChForceElementTire (const std::string &name)
	Construct a tire with the specified name.

virtual TerrainForce	GetTireForce () const override
	Get the tire force and moment. More...

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< ChVisualShapeTriangleMesh >	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 (ChVector3d &com, ChMatrix33<> &inertia)
	Add this subsystem's inertia properties. More...

void	ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
	Export the list of bodies to the specified JSON document.

void	ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
	Export the list of shafts to the specified JSON document.

void	ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
	Export the list of joints to the specified JSON document.

void	ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
	Export the list of shaft couples to the specified JSON document.

void	ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
	Export the list of markers to the specified JSON document.

void	ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
	Export the list of translational springs to the specified JSON document.

void	ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
	Export the list of rotational springs to the specified JSON document.

void	ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
	Export the list of body-body loads to the specified JSON document.

Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...

static bool	DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Collsion algorithm based on a paper of J. More...

Static Protected Member Functions inherited from chrono::vehicle::ChPart
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::ChPac02Tire
ChFunctionInterp	m_bott_map

double	m_gamma_limit
	limit camber angle

double	m_mu0
	Road friction at tire test conditions.

double	m_vcoulomb

double	m_frblend_begin

double	m_frblend_end

VehicleSide	m_measured_side

bool	m_allow_mirroring

bool	m_tire_conditions_found = false

bool	m_vertical_table_found = false

bool	m_bottoming_table_found = false

bool	m_use_friction_ellipsis = true

double	m_g = 9.81

unsigned int	m_use_mode

MFCoeff	m_par

TireStates	m_states

Protected Attributes inherited from chrono::vehicle::ChForceElementTire
ContactData	m_data
	tire-terrain collision information

TerrainForce	m_tireforce
	tire forces (in tire contact frame)

ChFunctionInterp	m_areaDep
	lookup table for estimation of penetration depth from intersection area

std::shared_ptr< ChVisualShape >	m_cyl_shape
	visualization cylinder asset

bool	m_verbose
	verbose output

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)

double	m_pressure
	internal tire pressure

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)

double	m_slip_angle

double	m_longitudinal_slip

double	m_camber_angle

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether ot not the part is fully constructed

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_vehicle/wheeled_vehicle/tire/Pac02Tire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/Pac02Tire.cpp

Description

Public Member Functions

Additional Inherited Members