Description

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

This type of terrain can be used in conjunction with tire models that perform their own collision detection (e.g., ChTMeasy ChPac89, ChPac02, ChFiala).

#include <CRGTerrain.h>

Inheritance diagram for chrono::vehicle::CRGTerrain:

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Collaboration diagram for chrono::vehicle::CRGTerrain:

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Public Member Functions
	CRGTerrain (ChSystem *system)
	Construct a default CRGTerrain. More...

void	EnableVerbose (bool val)
	Enable verbose messages from CRG (default : false).

void	UseMeshVisualization (bool val)
	Set the road visualization mode (mesh or boundary lines). More...

void	SetContactFrictionCoefficient (float friction_coefficient)
	Set coefficient of friction. More...

void	Initialize (const std::string &crg_file)
	Initialize the CRGTerrain from the specified OpenCRG file. More...

virtual double	GetHeight (const ChVector3d &loc) const override
	Get the terrain height below the specified location.

virtual ChVector3d	GetNormal (const ChVector3d &loc) const override
	Get the terrain normal at the point below the specified location.

virtual float	GetCoefficientFriction (const ChVector3d &loc) const override
	Get the terrain coefficient of friction at the point below the specified location. More...

std::shared_ptr< ChBezierCurve >	GetRoadCenterLine ()
	Get the road center line as a Bezier curve.

std::shared_ptr< ChBezierCurve >	GetRoadBoundaryLeft () const
	Get the road left boundary as a Bezier curve.

std::shared_ptr< ChBezierCurve >	GetRoadBoundaryRight () const
	Get the road right boundary as a Bezier curve.

std::shared_ptr< ChTriangleMeshConnected >	GetMesh () const
	Get the road mesh.

bool	IsPathClosed ()
	Is the road a round course (closed loop)?

double	GetLength ()
	Get length of the road.

double	GetWidth ()
	Get width of the road.

double	GetStartHeading ()
	Get start heading (in radians), can be different from zero for georeferenced roads.

ChCoordsys	GetStartPosition ()
	Get the start position (location and orientation). More...

std::shared_ptr< ChBody >	GetGround () const
	Get ground body (carries visualization assets).

void	SetRoadsidePostDistance (double dist)
	Generate roadside posts left and right (optional)

void	SetRoadDiffuseTextureFile (std::string diffTexFile)
	Use a texture file, if mesh representation is desired (optional, should not be used with Irrlicht)

void	SetRoadNormalTextureFile (std::string normTexFile)

void	SetRoadRoughnessTextureFile (std::string roughTexFile)

void	ExportMeshWavefront (const std::string &out_dir)
	Export road mesh to Wavefront file.

void	ExportMeshPovray (const std::string &out_dir)
	Export the patch mesh as a macro in a POV-Ray include file.

void	ExportCurvesPovray (const std::string &out_dir)
	Export the road boundary curves as a macro in a POV-Ray include file. More...

Public Member Functions inherited from chrono::vehicle::ChTerrain
virtual void	Synchronize (double time)
	Update the state of the terrain system at the specified time.

virtual void	Advance (double step)
	Advance the state of the terrain system by the specified duration.

virtual void	GetProperties (const ChVector3d &loc, double &height, ChVector3d &normal, float &friction) const
	Get all terrain characteristics at the point below the specified location.

void	RegisterHeightFunctor (std::shared_ptr< HeightFunctor > functor)
	Specify the functor object to provide the terrain height at given locations. More...

void	RegisterNormalFunctor (std::shared_ptr< NormalFunctor > functor)
	Specify the functor object to provide the terrain normal at given locations. More...

void	RegisterFrictionFunctor (std::shared_ptr< FrictionFunctor > functor)
	Specify the functor object to provide the coefficient of friction at given locations.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChTerrain
std::shared_ptr< HeightFunctor >	m_height_fun
	functor for location-dependent terrain height

std::shared_ptr< NormalFunctor >	m_normal_fun
	functor for location-dependent terrain normal

std::shared_ptr< FrictionFunctor >	m_friction_fun
	functor for location-dependent coefficient of friction

Constructor & Destructor Documentation

◆ CRGTerrain()

chrono::vehicle::CRGTerrain::CRGTerrain ( ChSystem * system )

Construct a default CRGTerrain.

The user should call optional Set methods and then Initialize.

Parameters

[in] system pointer to the containing multibody system

Member Function Documentation

◆ ExportCurvesPovray()

void chrono::vehicle::CRGTerrain::ExportCurvesPovray ( const std::string & out_dir )

Export the road boundary curves as a macro in a POV-Ray include file.

This function does nothing if using mesh visualization for the road.

◆ GetCoefficientFriction()

float chrono::vehicle::CRGTerrain::GetCoefficientFriction ( const ChVector3d & loc ) const

overridevirtual

Get the terrain coefficient of friction at the point below the specified location.

This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For CRGTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified at construction.

Reimplemented from chrono::vehicle::ChTerrain.

◆ GetStartPosition()

ChCoordsys chrono::vehicle::CRGTerrain::GetStartPosition ( )

Get the start position (location and orientation).

This is the (x,y,z) road location at CRG parameters u=v=0.

◆ Initialize()

void chrono::vehicle::CRGTerrain::Initialize ( const std::string & crg_file )

Initialize the CRGTerrain from the specified OpenCRG file.

Parameters

[in] crg_file OpenCRG road specification file

◆ SetContactFrictionCoefficient()

void chrono::vehicle::CRGTerrain::SetContactFrictionCoefficient ( float friction_coefficient )

inline

Set coefficient of friction.

The default value is 0.8

◆ UseMeshVisualization()

void chrono::vehicle::CRGTerrain::UseMeshVisualization ( bool val )

inline

Set the road visualization mode (mesh or boundary lines).

Default: mesh.

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

/builds/uwsbel/chrono/src/chrono_vehicle/terrain/CRGTerrain.h
/builds/uwsbel/chrono/src/chrono_vehicle/terrain/CRGTerrain.cpp