chrono::vehicle::ChChassisConnectorTorsion Class Referenceabstract

Description

Template for a torsion chassis connector.

This is a passive connector, modeled with a revolute joint (aligned with the vehicle's longitudinal axis) and a rotational spring-damper.

#include <ChChassisConnectorTorsion.h>

Inheritance diagram for chrono::vehicle::ChChassisConnectorTorsion:
Collaboration diagram for chrono::vehicle::ChChassisConnectorTorsion:

Public Member Functions

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

Protected Member Functions

virtual double GetTorsionStiffness () const =0
 Return the torsion stiffness of the chassis.
 
- 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< ChLinkLockRevolutem_joint
 revolute joint of the connector
 
std::shared_ptr< ChLinkRSDAm_spring
 rotational spring-damper
 
- 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 Function Documentation

◆ Initialize()

void chrono::vehicle::ChChassisConnectorTorsion::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 the specified location (with respect to and expressed in the reference frame of the front chassis).

Parameters
[in]frontfront chassis
[in]rearrear chassis

Implements chrono::vehicle::ChChassisConnector.


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