Description

Template for an anti-roll subsystem using an RSD.

Base class for an anti-roll bar template modeled two arms connected with a revolute spring-damper. Derived from ChAntirollBar, but still and abstract base class.

The anti-roll bar subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The subsystem reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

#include <ChAntirollBarRSD.h>

Inheritance diagram for chrono::vehicle::ChAntirollBarRSD:
Collaboration diagram for chrono::vehicle::ChAntirollBarRSD:

Public Member Functions

 ChAntirollBarRSD (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSuspension > suspension, const ChVector<> &location) override
 Initialize this anti-roll bar subsystem. More...
 
virtual double GetMass () const override
 Get the total mass of the anti-roll bar subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the anti-roll bar subsystem.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChAntirollBar
 ChAntirollBar (const std::string &name)
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
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.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Member Functions

virtual double getArmMass () const =0
 Return the mass of the arm body.
 
virtual ChVector getArmInertia ()=0
 Return the moments of inertia of the arm body.
 
virtual double getArmLength () const =0
 Return the arm length (dimension in y direction).
 
virtual double getArmWidth () const =0
 Return the arm width (dimension in X direction).
 
virtual double getDroplinkHeight () const =0
 Return height of droplinks (dimension in Z direction).
 
virtual double getArmRadius () const =0
 Return radius of arm (visualization only)
 
virtual double getSpringCoefficient () const =0
 Return the rotational spring coefficient.
 
virtual double getDampingCoefficient () const =0
 Return the rotational damping coefficient.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

std::shared_ptr< ChBodym_arm_left
 handle to the left arm body
 
std::shared_ptr< ChBodym_arm_right
 handle to the right arm body
 
std::shared_ptr< ChLinkLockRevolutem_revolute_ch
 handle to revolute joint to chassis
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to central revolute joint
 
std::shared_ptr< ChLinkDistancem_link_left
 handle to the left droplink distance constraint
 
std::shared_ptr< ChLinkDistancem_link_right
 handle to the right droplink distance constraint
 
- 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
 

Additional Inherited Members

- 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...
 
- 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.
 

Constructor & Destructor Documentation

◆ ChAntirollBarRSD()

chrono::vehicle::ChAntirollBarRSD::ChAntirollBarRSD ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

◆ Initialize()

void chrono::vehicle::ChAntirollBarRSD::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChSuspension suspension,
const ChVector<> &  location 
)
overridevirtual

Initialize this anti-roll bar subsystem.

The anti-roll bar subsystem is initialized by attaching it to the specified chassis at the given location (with respect to and expressed in the reference frame of the chassis) and associating it with the specified suspension subsystem (assumed to be independent). It is assumed that the anti-roll bar reference frame is always aligned with the chassis reference frame.

Parameters
[in]chassishandle to the chassis body
[in]suspensionassociated suspension subsystem
[in]locationlocation relative to the chassis frame

Implements chrono::vehicle::ChAntirollBar.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/antirollbar/ChAntirollBarRSD.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/antirollbar/ChAntirollBarRSD.cpp