chrono::vehicle::ChChassisConnector Class Referenceabstract

Description

Base class for a chassis connector subsystem.

#include <ChChassis.h>

Inheritance diagram for chrono::vehicle::ChChassisConnector:
Collaboration diagram for chrono::vehicle::ChChassisConnector:

Public Member Functions

 ChChassisConnector (const std::string &name)
 
virtual double GetMass () const =0
 Get the total mass of the chassis connector subsystem.
 
virtual ChVector GetCOMPos () const =0
 Get the current global COM location of the chassis connector subsystem.
 
virtual void Initialize (std::shared_ptr< ChChassis > front, std::shared_ptr< ChChassisRear > rear)=0
 Initialize this chassis connector subsystem. More...
 
virtual void Synchronize (double time, double steering)
 Update the state of this connector subsystem at the current time. More...
 
- 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
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.
 
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

- 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...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. 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.
 
- 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
 

Member Function Documentation

◆ Initialize()

virtual void chrono::vehicle::ChChassisConnector::Initialize ( std::shared_ptr< ChChassis front,
std::shared_ptr< ChChassisRear rear 
)
pure virtual

Initialize this chassis connector subsystem.

The subsystem is initialized by attaching it to the specified front and rear chassis bodies at the specified location (with respect to and expressed in the reference frame of the front chassis).

Parameters
[in]frontfront chassis
[in]rearrear chassis

Implemented in chrono::vehicle::ChChassisConnectorArticulated, chrono::vehicle::ChChassisConnectorTorsion, and chrono::vehicle::ChChassisConnectorHitch.

◆ Synchronize()

virtual void chrono::vehicle::ChChassisConnector::Synchronize ( double  time,
double  steering 
)
inlinevirtual

Update the state of this connector subsystem at the current time.

The connector subsystem is provided the current steering driver input (a value between -1 and +1). Positive steering input indicates steering to the left. This function is called during the vehicle update. The default implementation is no-op.

Parameters
[in]timecurrent time
[in]steeringcurrent steering input [-1,+1]

Reimplemented in chrono::vehicle::ChChassisConnectorArticulated.


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