Description

Base class for a double-A arm suspension modeled with distance constraints.

Derived from ChSuspension, but still an abstract bas class.

The suspension subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The suspension reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

All point locations are assumed to be given for the left half of the suspension and will be mirrored (reflecting the y coordinates) to construct the right side.

#include <ChDoubleWishboneReduced.h>

Inheritance diagram for chrono::vehicle::ChDoubleWishboneReduced:
Collaboration diagram for chrono::vehicle::ChDoubleWishboneReduced:

Public Member Functions

 ChDoubleWishboneReduced (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual bool IsSteerable () const final override
 Specify whether or not this suspension can be steered.
 
virtual bool IsIndependent () const final override
 Specify whether or not this is an independent suspension.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0) override
 Initialize this suspension subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the suspension subsystem.
 
virtual double GetMass () const override
 Get the total mass of the suspension subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the suspension subsystem.
 
virtual double GetTrack () override
 Get the wheel track for the suspension subsystem.
 
std::shared_ptr< ChLinkTSDAGetShock (VehicleSide side) const
 Get a handle to the specified shock (spring-damper) element.
 
virtual ChSuspension::Force ReportSuspensionForce (VehicleSide side) const override
 Return current suspension forces (spring and shock) on the specified side. More...
 
virtual std::shared_ptr< ChBodyGetAntirollBody (VehicleSide side) const override
 Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...
 
virtual void LogConstraintViolations (VehicleSide side) override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChSuspension
 ChSuspension (const std::string &name)
 
const ChVectorGetLocation () const
 Get the location of the suspension subsystem relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the spindle on the specified side.
 
ChQuaternion GetSpindleRot (VehicleSide side) const
 Get the orientation of the spindle body on the specified side. More...
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the spindle body on the specified side. More...
 
double GetAxleSpeed (VehicleSide side) const
 Get the angular speed of the axle on the specified side.
 
void Synchronize ()
 Synchronize this suspension subsystem. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. More...
 
virtual double getSpindleRadius () const =0
 Return the radius of the spindle body (visualization only).
 
virtual double getSpindleWidth () const =0
 Return the width of the spindle body (visualization only).
 
virtual std::shared_ptr< ChBodyGetBrakeBody (VehicleSide side) const
 Specify the body on the specified side for a possible connection to brake subsystem. More...
 
void ApplyParkingBrake (bool brake)
 Simple model of a parking brake.
 
- 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 {
  SPINDLE, UPRIGHT, UCA_F, UCA_B,
  UCA_U, LCA_F, LCA_B, LCA_U,
  SHOCK_C, SHOCK_U, TIEROD_C, TIEROD_U,
  NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 

Protected Member Functions

virtual const ChVector getLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double getSpindleMass () const =0
 Return the mass of the spindle body.
 
virtual double getUprightMass () const =0
 Return the mass of the upright body.
 
virtual const ChVectorgetSpindleInertia () const =0
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetUprightInertia () const =0
 Return the moments of inertia of the upright body.
 
virtual double getAxleInertia () const =0
 Return the inertia of the axle shaft.
 
virtual double getUprightRadius () const =0
 Return the radius of the upright body (visualization only).
 
virtual double getSpringRestLength () const =0
 Return the free (rest) length of the spring-damper element.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetShockForceFunctor () const =0
 Return the functor object for shock force (spring-damper).
 
- 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< ChBodym_upright [2]
 handles to the upright bodies (left/right)
 
std::shared_ptr< ChLinkDistancem_distUCA_F [2]
 handles to the front UCA distance constraints (left/right)
 
std::shared_ptr< ChLinkDistancem_distUCA_B [2]
 handles to the back UCA distance constraints (left/right)
 
std::shared_ptr< ChLinkDistancem_distLCA_F [2]
 handles to the front LCA distance constraints (left/right)
 
std::shared_ptr< ChLinkDistancem_distLCA_B [2]
 handles to the back LCA distance constraints (left/right)
 
std::shared_ptr< ChLinkDistancem_distTierod [2]
 handles to the tierod distance constraints (left/right)
 
std::shared_ptr< ChLinkTSDAm_shock [2]
 handles to the spring-damper force elements (left/right)
 
- Protected Attributes inherited from chrono::vehicle::ChSuspension
ChVector m_location
 location relative to chassis
 
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr< ChLinkLockRevolutem_revolute [2]
 handles to spindle revolute joints
 
- 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
SPINDLE 

spindle location

UPRIGHT 

upright location

UCA_F 

upper control arm, chassis front

UCA_B 

upper control arm, chassis back

UCA_U 

upper control arm, upright

LCA_F 

lower control arm, chassis front

LCA_B 

lower control arm, chassis back

LCA_U 

lower control arm, upright

SHOCK_C 

shock, chassis

SHOCK_U 

shock, upright

TIEROD_C 

tierod, chassis

TIEROD_U 

tierod, upright

Constructor & Destructor Documentation

◆ ChDoubleWishboneReduced()

chrono::vehicle::ChDoubleWishboneReduced::ChDoubleWishboneReduced ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChDoubleWishboneReduced::AddVisualizationAssets ( VisualizationType  vis)
overridevirtual

Add visualization assets for the suspension subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChSuspension.

◆ GetAntirollBody()

virtual std::shared_ptr<ChBody> chrono::vehicle::ChDoubleWishboneReduced::GetAntirollBody ( VehicleSide  side) const
inlineoverridevirtual

Specify the suspension body on the specified side to attach a possible antirollbar subsystem.

Return the corresponding upright body.

Reimplemented from chrono::vehicle::ChSuspension.

◆ getLocation()

virtual const ChVector chrono::vehicle::ChDoubleWishboneReduced::getLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

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

◆ Initialize()

void chrono::vehicle::ChDoubleWishboneReduced::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChSubchassis subchassis,
std::shared_ptr< ChSteering steering,
const ChVector<> &  location,
double  left_ang_vel = 0,
double  right_ang_vel = 0 
)
overridevirtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. If a steering subsystem is provided, the suspension tierods are to be attached to the steering's central link body (steered suspension); otherwise they are to be attached to the chassis (non-steered suspension).

Parameters
[in]chassisassociated chassis subsystem
[in]subchassisassociated subchassis subsystem (may be null)
[in]steeringassociated steering subsystem (may be null)
[in]locationlocation relative to the chassis frame
[in]left_ang_velinitial angular velocity of left wheel
[in]right_ang_velinitial angular velocity of right wheel

Implements chrono::vehicle::ChSuspension.

◆ ReportSuspensionForce()

ChSuspension::Force chrono::vehicle::ChDoubleWishboneReduced::ReportSuspensionForce ( VehicleSide  side) const
overridevirtual

Return current suspension forces (spring and shock) on the specified side.

Since this suspension type has a combined spring-damper element, the same information is duplicated in the "spring" and "shock" members of the return struct.

Implements chrono::vehicle::ChSuspension.


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