Description

Template for a balancer subchassis system.

#include <ChBalancer.h>

Inheritance diagram for chrono::vehicle::ChBalancer:
Collaboration diagram for chrono::vehicle::ChBalancer:

Public Member Functions

virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location) override
 Initialize this subchassis subsystem. More...
 
virtual double GetMass () const override
 Get the total mass of the subchassis subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the subchassis subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the balancer subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the balancer subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChSubchassis
 ChSubchassis (const std::string &name)
 
const ChVectorGetLocation () const
 Get the location of the subchassis relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetBeam (VehicleSide side) const
 Get a handle to the beam body on the specified side.
 
- 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 SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Types

enum  PointId { BEAM, REVOLUTE, NUM_POINTS }
 Identifiers for the various hardpoints. More...
 

Protected Member Functions

 ChBalancer (const std::string &name)
 
virtual const ChVector GetLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double GetBalancerBeamMass () const =0
 Get the balancer mass.
 
virtual const ChVectorGetBalancerBeamInertia () const =0
 Get the inertia tensor of the chassis body.
 
virtual const double GetBalancerMaxPitch () const =0
 Get the rear balancer min/max pitch. More...
 
virtual const ChVectorGetBalancerBeamDimensions () const =0
 Get balancer dimensions (for visualization).
 
virtual std::shared_ptr< ChVehicleBushingDataGetBushingData () const
 Return stiffness and damping data for the balancer bushing. More...
 
- 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< ChVehicleJointm_balancer_joint [2]
 balancer pivot joints
 
- Protected Attributes inherited from chrono::vehicle::ChSubchassis
ChVector m_location
 location relative to chassis
 
std::shared_ptr< ChBodym_beam [2]
 handles to beam bodies
 
- 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.
 

Member Enumeration Documentation

◆ PointId

Identifiers for the various hardpoints.

Enumerator
BEAM 

beam location

REVOLUTE 

location of revolute joint

Member Function Documentation

◆ GetBalancerMaxPitch()

virtual const double chrono::vehicle::ChBalancer::GetBalancerMaxPitch ( ) const
protectedpure virtual

Get the rear balancer min/max pitch.

Used only if using a kinematic joint.

Implemented in chrono::vehicle::Balancer, and chrono::vehicle::fmtv::MTV_Balancer.

◆ GetBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::ChBalancer::GetBushingData ( ) const
inlineprotectedvirtual

Return stiffness and damping data for the balancer bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

Reimplemented in chrono::vehicle::Balancer.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChBalancer::GetLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the subchassis reference frame.

Implemented in chrono::vehicle::Balancer, and chrono::vehicle::fmtv::MTV_Balancer.

◆ Initialize()

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

Initialize this subchassis subsystem.

The subchassis is initialized by attaching it to the specified chassis at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the subchassis reference frame is always aligned with the chassis reference frame.

Parameters
[in]chassischassis
[in]locationlocation relative to the chassis frame

Implements chrono::vehicle::ChSubchassis.


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