Description

Base class for a deformable tire model.

#include <ChDeformableTire.h>

Inheritance diagram for chrono::vehicle::ChDeformableTire:

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Collaboration diagram for chrono::vehicle::ChDeformableTire:

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Classes
struct	Profile
	Tire profile definition. More...

Public Member Functions
	ChDeformableTire (const std::string &name)
	Construct a deformable tire with the specified name.

virtual double	GetTireMass () const override final
	Return the tire mass.

virtual ChVector3d	GetTireInertia () const override final
	Return the tire moments of inertia (in the tire centroidal frame).

std::shared_ptr< ChContactMaterialSMC >	GetContactMaterial () const
	Get the tire contact material. More...

void	EnablePressure (bool val)
	Enable/disable tire pressure (default: true).

bool	IsPressureEnabled () const

void	EnableContact (bool val)
	Enable/disable tire contact (default: true).

bool	IsContactEnabled () const

void	EnableRimConnection (bool val)
	Enable/disable tire-rim connection (default: true).

bool	IsRimConnectionEnabled () const

ChVisualShapeFEA *	GetMeshVisualization () const
	Get a handle to the mesh visualization.

std::shared_ptr< fea::ChMesh >	GetMesh () const
	Get the underlying FEA mesh.

std::shared_ptr< fea::ChContactSurface >	GetContactSurface () const
	Get the mesh contact surface. More...

std::shared_ptr< ChLoadContainer >	GetLoadContainer () const
	Get the load container associated with this tire.

virtual double	GetRimRadius () const =0
	Get the rim radius (inner tire radius). / TODO: consider removing.

virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual TerrainForce	ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Get the tire force and moment expressed in the tire frame. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the rigid tire subsystem.

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the rigid tire subsystem.

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the integration step size for the underlying dynamics (default: 1ms). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction (default: SINGLE_POINT). More...

void	SetContactSurfaceType (ContactSurfaceType type, double dim=0.01, int collision_family=13)
	Set the contact surface type (default: NODE_CLOUD). More...

void	SetPressure (double pressure)
	Set the internal tire pressure [Pa] (default: 0). More...

double	GetPressure () const
	Get the internal tire pressure [Pa].

virtual double	GetRadius () const =0
	Get the tire radius.

virtual double	GetWidth () const =0
	Get the tire width.

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

virtual double	GetDeflection () const
	Report the tire deflection.

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. More...

std::shared_ptr< ChWheel >	GetWheel () const
	Get the associated wheel. More...

virtual void	Synchronize (double time, const ChTerrain &terrain)
	Update the state of this tire system at the current time. More...

virtual void	Advance (double step)
	Advance the state of this tire by the specified time step.

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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

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	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	GetDefaultPressure () const =0
	Return the default tire pressure.

virtual std::vector< std::shared_ptr< fea::ChNodeFEAbase > >	GetConnectedNodes () const =0
	Return list of nodes connected to the rim. / TODO Consider moving down to derived classes (CHANCFTire, CHReissnerTire, etc)

virtual void	CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side)=0
	Create the FEA nodes and elements. More...

virtual void	CreatePressureLoad ()=0
	Create the ChLoad for applying pressure to the tire. More...

virtual void	CreateContactSurface ()=0
	Create the contact surface for the tire mesh. More...

virtual void	CreateRimConnections (std::shared_ptr< ChBody > wheel)=0
	Create the tire-rim connections. More...

virtual void	CreateContactMaterial ()=0
	Create the SMC contact material.

virtual double	GetAddedMass () const override final
	Get the mass added to the associated spindle body. More...

virtual ChVector3d	GetAddedInertia () const override final
	Get the inertia added to the associated spindle body. More...

virtual void	InitializeInertiaProperties () override
	Return the tire mass.

virtual void	UpdateInertiaProperties () override
	Return the tire moments of inertia (in the tire centroidal frame).

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual TerrainForce	GetTireForce () const override final
	Get the tire force and moment. More...

Protected Member Functions inherited from chrono::vehicle::ChTire
	ChTire (const std::string &name)
	Construct a tire subsystem with given name.

void	CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChVisualShapeTriangleMesh >	AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
	Add mesh visualization to the body associated with this tire (a wheel spindle body). 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< fea::ChMesh >	m_mesh
	tire mesh

std::shared_ptr< ChLoadContainer >	m_load_container
	load container (for pressure load)

std::vector< std::shared_ptr< fea::ChLinkNodeFrame > >	m_connections
	tire-wheel point connections

std::vector< std::shared_ptr< fea::ChLinkNodeSlopeFrame > >	m_connectionsD
	tire-wheel direction connections

std::vector< std::shared_ptr< ChLinkMateFix > >	m_connectionsF
	tire-wheel fix connection (point+rotation)

bool	m_connection_enabled
	enable tire connections to rim

bool	m_pressure_enabled
	enable internal tire pressure

bool	m_contact_enabled
	enable tire-terrain contact

std::shared_ptr< ChContactMaterialSMC >	m_contact_mat
	tire contact material

std::shared_ptr< ChVisualShapeFEA >	m_visualization
	tire mesh visualization

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

double	m_pressure
	internal tire pressure

CollisionType	m_collision_type
	method used for tire-terrain collision

ContactSurfaceType	m_contact_surface_type
	type of contact surface model (node cloud or mesh)

double	m_contact_surface_dim
	contact surface dimension (node radius or mesh thickness)

int	m_collision_family
	collision family for this tire

std::string	m_vis_mesh_file
	name of OBJ file for visualization of this tire (may be empty)

double	m_slip_angle

double	m_longitudinal_slip

double	m_camber_angle

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

bool	m_initialized
	specifies whether ot 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

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
	Collision detection type. More...

enum	ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
	Contact surface type. More...

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector3d	EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
	Utility function for estimating the tire moments of inertia. More...

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::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...

static bool	DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Collsion algorithm based on a paper of J. 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

◆ CreateContactSurface()

virtual void chrono::vehicle::ChDeformableTire::CreateContactSurface ( )

protectedpure virtual

Create the contact surface for the tire mesh.

A derived class must create a contact surface and add it to the underlying mesh.

Implemented in chrono::vehicle::ChANCFTire, chrono::vehicle::ChFEATire, and chrono::vehicle::ChReissnerTire.

◆ CreateMesh()

virtual void chrono::vehicle::ChDeformableTire::CreateMesh	(	const ChFrameMoving<> &	wheel_frame,
		VehicleSide	side
	)

protectedpure virtual

Create the FEA nodes and elements.

The wheel rotational axis is assumed to be the Y axis.

Parameters

[in]	wheel_frame	frame of associated wheel
[in]	side	left/right vehicle side

Implemented in chrono::vehicle::hmmwv::HMMWV_ANCFTire, chrono::vehicle::FEATire, chrono::vehicle::ANCFTire, chrono::vehicle::ReissnerTire, and chrono::vehicle::hmmwv::HMMWV_ReissnerTire.

◆ CreatePressureLoad()

virtual void chrono::vehicle::ChDeformableTire::CreatePressureLoad ( )

protectedpure virtual

Create the ChLoad for applying pressure to the tire.

A derived class must create a load and add it to the underlying load container.

Implemented in chrono::vehicle::ChANCFTire, chrono::vehicle::ChFEATire, and chrono::vehicle::ChReissnerTire.

◆ CreateRimConnections()

virtual void chrono::vehicle::ChDeformableTire::CreateRimConnections ( std::shared_ptr< ChBody > wheel )

protectedpure virtual

Create the tire-rim connections.

A derived class must create the various constraints between the tire and the provided wheel body and add them to the underlying system.

Parameters

[in] wheel associated wheel body

Implemented in chrono::vehicle::ChANCFTire, chrono::vehicle::ChFEATire, and chrono::vehicle::ChReissnerTire.

◆ GetAddedInertia()

virtual ChVector3d chrono::vehicle::ChDeformableTire::GetAddedInertia ( ) const

inlinefinaloverrideprotectedvirtual

Get the inertia added to the associated spindle body.

Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body moments of inertia by the amount reported by this function.

Implements chrono::vehicle::ChTire.

◆ GetAddedMass()

virtual double chrono::vehicle::ChDeformableTire::GetAddedMass ( ) const

inlinefinaloverrideprotectedvirtual

Get the mass added to the associated spindle body.

Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body mass by the amount repoirted by this function.

Implements chrono::vehicle::ChTire.

◆ GetContactMaterial()

std::shared_ptr<ChContactMaterialSMC> chrono::vehicle::ChDeformableTire::GetContactMaterial ( ) const

inline

Get the tire contact material.

Note that this is not set until after tire initialization.

◆ GetContactSurface()

std::shared_ptr< ChContactSurface > chrono::vehicle::ChDeformableTire::GetContactSurface ( ) const

Get the mesh contact surface.

If contact is not enabled, an empty shared pointer is returned.

◆ GetTireForce()

TerrainForce chrono::vehicle::ChDeformableTire::GetTireForce ( ) const

finaloverrideprotectedvirtual

Get the tire force and moment.

A ChDeformableTire always returns zero forces and moments since tire forces are implicitly applied to the associated wheel through the tire-wheel connections.

Implements chrono::vehicle::ChTire.

◆ ReportTireForce()

TerrainForce chrono::vehicle::ChDeformableTire::ReportTireForce ( ChTerrain * terrain ) const

overridevirtual

Report the tire force and moment.

This generalized force encapsulates the tire-terrain forces, as well as the weight of the tire itself and is calculated as the resultant of all reaction forces and torques in the tire-wheel connections, as applied at the wheel body center of mass. The force and moment are expressed in the global frame.

Implements chrono::vehicle::ChTire.

◆ ReportTireForceLocal()

TerrainForce chrono::vehicle::ChDeformableTire::ReportTireForceLocal	(	ChTerrain *	terrain,
		ChCoordsys<> &	tire_frame
	)		const

overridevirtual

Get the tire force and moment expressed in the tire frame.

Currently NOT IMPLEMENTED.

Implements chrono::vehicle::ChTire.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChDeformableTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChDeformableTire.cpp

Description

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ CreateContactSurface()

◆ CreateMesh()

◆ CreatePressureLoad()

◆ CreateRimConnections()

◆ GetAddedInertia()

◆ GetAddedMass()

◆ GetContactMaterial()

◆ GetContactSurface()

◆ GetTireForce()

◆ ReportTireForce()

◆ ReportTireForceLocal()