Description

Template for an articulation chassis connector.

This is an active connector, modeled with a rotational motor (a revolute joint along the chassis vertical axis whose DOF can be actuated based on current steering input).

#include <ChChassisConnectorArticulated.h>

Inheritance diagram for chrono::vehicle::ChChassisConnectorArticulated:

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Collaboration diagram for chrono::vehicle::ChChassisConnectorArticulated:

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Public Member Functions
	ChChassisConnectorArticulated (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 > front, std::shared_ptr< ChChassisRear > rear) override
	Initialize this chassis connector subsystem. More...

virtual void	Synchronize (double time, const DriverInputs &driver_inputs) override
	Update the state of this connector subsystem at the current time. More...

Public Member Functions inherited from chrono::vehicle::ChChassisConnector
	ChChassisConnector (const std::string &name)

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.

virtual uint16_t	GetVehicleTag () const
	Get the tag of the associated vehicle. More...

int	GetBodyTag () const
	Get the tag for component bodies.

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	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 (ChOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
virtual double	GetMaxSteeringAngle () const =0
	Return the maximum steering angle. 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...

virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. 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.

Protected Attributes
std::shared_ptr< ChLinkMotorRotationAngle >	m_motor
	steering motor

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

bool	m_initialized
	specifies whether or 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

int	m_obj_tag
	tag for part objects

Additional Inherited Members
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...

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).

Member Function Documentation

◆ GetMaxSteeringAngle()

virtual double chrono::vehicle::ChChassisConnectorArticulated::GetMaxSteeringAngle ( ) const

protectedpure virtual

Return the maximum steering angle.

The steering input is scaled by this value to produce the angle applied to the underlying rotational motor.

Implemented in chrono::vehicle::ChassisConnectorArticulated.

◆ Initialize()

void chrono::vehicle::ChChassisConnectorArticulated::Initialize	(	std::shared_ptr< ChChassis >	front,
		std::shared_ptr< ChChassisRear >	rear
	)

overridevirtual

Initialize this chassis connector subsystem.

The subsystem is initialized by attaching it to the specified front and rear chassis bodies at their connection points.

Parameters

[in]	front	front chassis
[in]	rear	rear chassis

Reimplemented from chrono::vehicle::ChChassisConnector.

◆ Synchronize()

void chrono::vehicle::ChChassisConnectorArticulated::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs
	)

overridevirtual

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 connector uses the steering input to control the angle in the underlying rotational motor.

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs

Reimplemented from chrono::vehicle::ChChassisConnector.

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

/builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChChassisConnectorArticulated.h
/builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChChassisConnectorArticulated.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ GetMaxSteeringAngle()

◆ Initialize()

◆ Synchronize()