chrono::vehicle::ChFEATire Class Referenceabstract
Description
Co-rotational FEA tire template.
This tire is modeled as a mesh composed of co-rotational elements.
#include <ChFEATire.h>
Inheritance diagram for chrono::vehicle::ChFEATire:
Collaboration diagram for chrono::vehicle::ChFEATire:
Public Member Functions | |
| ChFEATire (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
 Public Member Functions inherited from chrono::vehicle::ChDeformableTire | |
| 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. | |
| 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 std::vector< std::shared_ptr< fea::ChNodeFEAbase > > | GetInternalNodes () const =0 |
| Return list of internal nodes. More... | |
| virtual void | CreatePressureLoad () override final |
| Create the ChLoad for applying pressure to the tire. | |
| virtual void | CreateContactSurface () override final |
| Create the contact surface for the tire mesh. | |
| virtual void | CreateRimConnections (std::shared_ptr< ChBody > wheel) override final |
| Create the tire-rim connections. | |
| Protected Member Functions inherited from chrono::vehicle::ChDeformableTire | |
| 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 | 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. | |
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). | |
| Protected Attributes inherited from chrono::vehicle::ChDeformableTire | |
| 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 | |
Member Function Documentation
◆ GetInternalNodes()
|
protectedpure virtual |
Return list of internal nodes.
These nodes define the mesh surface over which pressure loads are applied.
Implemented in chrono::vehicle::FEATire.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChFEATire.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChFEATire.cpp
