Description

Base class for a Hendrickson PRIMAXX EX suspension.

Derived from ChSuspension, but still an abstract base 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 <ChHendricksonPRIMAXX.h>

Inheritance diagram for chrono::vehicle::ChHendricksonPRIMAXX:

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Collaboration diagram for chrono::vehicle::ChHendricksonPRIMAXX:

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Public Member Functions
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 ChVector3d &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	GetTrack () override
	Get the wheel track for the suspension subsystem.

virtual std::vector< ForceTSDA >	ReportSuspensionForce (VehicleSide side) const override
	Return current suspension TSDA force information on the specified side.

double	GetShockLBForce (VehicleSide side) const
	There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing. More...

double	GetShockLBLength (VehicleSide side) const
	Get the current length of the spring-damper element.

double	GetShockLBVelocity (VehicleSide side) const
	Get the current deformation velocity of the spring-damper element.

double	GetShockAHForce (VehicleSide side) const
	Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element. More...

double	GetShockAHLength (VehicleSide side) const
	Get the current length of the spring-damper element.

double	GetShockAHVelocity (VehicleSide side) const
	Get the current deformation velocity of the spring-damper element.

virtual void	LogConstraintViolations (VehicleSide side) override
	Log current constraint violations.

void	LogHardpointLocations (const ChVector3d &ref, bool inches=false)
	Log the locations of all hardpoints. More...

Public Member Functions inherited from chrono::vehicle::ChSuspension
const ChVector3d &	GetRelPosition () const
	Get the location of the suspension subsystem relative to the associated chassis reference frame. More...

std::shared_ptr< ChBody >	GetSpindle (VehicleSide side) const
	Get a handle to the spindle body on the specified side.

std::shared_ptr< ChShaft >	GetAxle (VehicleSide side) const
	Get a handle to the axle shaft on the specified side.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute (VehicleSide side) const
	Get a handle to the revolute joint on the specified side.

const ChVector3d &	GetSpindlePos (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 ChVector3d &	GetSpindleLinVel (VehicleSide side) const
	Get the linear velocity of the spindle body on the specified side. More...

ChVector3d	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.

virtual void	Synchronize (double time)
	Synchronize this suspension subsystem.

virtual void	Advance (double step)
	Advance the state of the suspension subsystem by the specified time step.

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< ChBody >	GetAntirollBody (VehicleSide side) const
	Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...

virtual std::shared_ptr< ChBody >	GetBrakeBody (VehicleSide side) const
	Specify the body on the specified side for a possible connection to brake subsystem. More...

virtual std::vector< ForceRSDA >	ReportSuspensionTorque (VehicleSide side) const
	Return current RSDA torque information on the specified side.

void	ApplyParkingBrake (bool brake)
	Simple model of a parking brake.

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.

Protected Types
enum	PointId { SPINDLE, KNUCKLE_L, KNUCKLE_U, TIEROD_C, TIEROD_K, TORQUEROD_C, TORQUEROD_AH, LOWERBEAM_C, LOWERBEAM_AH, LOWERBEAM_TB, SHOCKAH_C, SHOCKAH_AH, SHOCKLB_C, SHOCKLB_LB, KNUCKLE_CM, TORQUEROD_CM, LOWERBEAM_CM, NUM_POINTS }
	Identifiers for the various hardpoints. More...

enum	DirectionId { UNIV_AXIS_LOWERBEAM_BEAM, UNIV_AXIS_LOWERBEAM_CHASSIS, UNIV_AXIS_TORQUEROD_ROD, UNIV_AXIS_TORQUEROD_CHASSIS, NUM_DIRS }
	Identifiers for the various vectors. More...

Protected Member Functions
	ChHendricksonPRIMAXX (const std::string &name)

virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual bool	UseTierodBodies () const
	Indicate whether or not tirod bodies are modelled (default: false). More...

virtual const ChVector3d	getLocation (PointId which)=0
	Return the location of the specified hardpoint. More...

virtual const ChVector3d	getDirection (DirectionId which)=0

virtual const ChVector3d	getAxlehousingCOM () const =0
	Return the center of mass of the axle tube.

virtual const ChVector3d	getTransversebeamCOM () const =0
	Return the center of mass of the transverse beam.

virtual double	getSpindleMass () const =0
	Return the mass of the spindle body.

virtual double	getKnuckleMass () const =0
	Return the mass of the knuckle body.

virtual double	getTorquerodMass () const =0
	Return the mass of the torque rod body.

virtual double	getLowerbeamMass () const =0
	Return the mass of the lower beam body.

virtual double	getTransversebeamMass () const =0
	Return the mass of the transverse beam body.

virtual double	getAxlehousingMass () const =0
	Return the mass of the axle housing body.

virtual double	getTierodMass () const
	Return the mass of the tierod body.

virtual const ChVector3d &	getSpindleInertia () const =0
	Return the moments of inertia of the spindle body.

virtual const ChVector3d &	getKnuckleInertia () const =0
	Return the moments of inertia of the knuckle body.

virtual const ChVector3d &	getTorquerodInertia () const =0
	Return the moments of inertia of the torque rod body.

virtual const ChVector3d &	getLowerbeamInertia () const =0
	Return the moments of inertia of the lower beam body.

virtual const ChVector3d &	getTransversebeamInertia () const =0
	Return the moments of inertia of the transverse beam body.

virtual const ChVector3d &	getAxlehousingInertia () const =0
	Return the moments of inertia of the axle housing body.

virtual const ChVector3d	getTierodInertia () const
	Return the moments of inertia of the tierod body.

virtual double	getAxleInertia () const =0
	Return the inertia of the axle shaft.

virtual double	getKnuckleRadius () const =0
	Return the radius of the knuckle body (visualization only).

virtual double	getTorquerodRadius () const =0
	Return the radius of the torque rod body (visualization only).

virtual double	getLowerbeamRadius () const =0
	Return the radius of the lower beam body (visualization only).

virtual double	getTransversebeamRadius () const =0
	Return the radius of the transverse beam body (visualization only).

virtual double	getAxlehousingRadius () const =0
	Return the radius of the axle housing body (visualization only).

virtual double	getTierodRadius () const
	Return the radius of the tierod body (visualization only).

virtual double	getShockLBRestLength () const =0
	Return the free (rest) length of the spring element.

virtual std::shared_ptr< ChLinkTSDA::ForceFunctor >	getShockLBForceCallback () const =0
	Return the functor object for shock force.

virtual double	getShockAHRestLength () const =0
	Return the free (rest) length of the spring element.

virtual std::shared_ptr< ChLinkTSDA::ForceFunctor >	getShockAHForceCallback () const =0
	Return the functor object for shock force.

virtual std::shared_ptr< ChVehicleBushingData >	getTierodBushingData () const
	Return stiffness and damping data for the tierod bushings. More...

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

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< ChBody >	m_knuckle [2]
	the knuckle bodies (left/right)

std::shared_ptr< ChBody >	m_torquerod [2]
	torquerod bodies (left/right)

std::shared_ptr< ChBody >	m_lowerbeam [2]
	lowerbeam bodies (left/right)

std::shared_ptr< ChBody >	m_transversebeam
	transversebeam body

std::shared_ptr< ChBody >	m_axlehousing
	axlehousing body

std::shared_ptr< ChBody >	m_tierod [2]
	tierod bodies, if used (left/right)

std::shared_ptr< ChLinkLockRevolute >	m_revoluteKingpin [2]
	knuckle-axle housing joints (left/right)

std::shared_ptr< ChLinkLockSpherical >	m_sphericalTorquerod [2]
	torquerod-axle housing joints (left/right)

std::shared_ptr< ChLinkLockRevolute >	m_revoluteTorquerod [2]
	torquerod-chasis joints (left/right)

std::shared_ptr< ChLinkLockSpherical >	m_sphericalLowerbeam [2]
	lowerbeam-axle housing joints (left/right)

std::shared_ptr< ChLinkLockRevolute >	m_revoluteLowerbeam [2]
	lowerbeam chasis joints (left/right)

std::shared_ptr< ChLinkLockSpherical >	m_sphericalTB [2]
	transversebeam-lower beam joints (left/right)

std::shared_ptr< ChLinkDistance >	m_distTierod [2]
	tierod distance constraints (left/right)

std::shared_ptr< ChVehicleJoint >	m_sphericalTierod [2]
	tierod-upright spherical joints (left/right)

std::shared_ptr< ChVehicleJoint >	m_universalTierod [2]
	tierod-chassis universal joints (left/right)

std::shared_ptr< ChLinkTSDA >	m_shockLB [2]
	spring links (left/right)

std::shared_ptr< ChLinkTSDA >	m_shockAH [2]
	spring links (left/right)

Protected Attributes inherited from chrono::vehicle::ChSuspension
ChVector3d	m_rel_loc
	location relative to chassis

std::shared_ptr< ChBody >	m_spindle [2]
	handles to spindle bodies

std::shared_ptr< ChShaft >	m_axle [2]
	handles to axle shafts

std::shared_ptr< ChShaftBodyRotation >	m_axle_to_spindle [2]
	handles to spindle-shaft connectors

std::shared_ptr< ChLinkLockRevolute >	m_revolute [2]
	handles to spindle revolute joints

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
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 Enumeration Documentation

◆ DirectionId

enum chrono::vehicle::ChHendricksonPRIMAXX::DirectionId

protected

Identifiers for the various vectors.

Enumerator
UNIV_AXIS_LOWERBEAM_BEAM	universal joint (lowerbeam, beam side)
UNIV_AXIS_LOWERBEAM_CHASSIS	universal joint (lowerbeam, chassis side)
UNIV_AXIS_TORQUEROD_ROD	universal joint (torquerod, rod side)
UNIV_AXIS_TORQUEROD_CHASSIS	universal joint (torquerod, chasis side)

◆ PointId

enum chrono::vehicle::ChHendricksonPRIMAXX::PointId

protected

Identifiers for the various hardpoints.

Enumerator
SPINDLE	spindle location
KNUCKLE_L	lower knuckle point
KNUCKLE_U	upper knuckle point
TIEROD_C	tierod, chassis
TIEROD_K	tierod, knuckle
TORQUEROD_C	torquerod, chassis
TORQUEROD_AH	torquerod, axle housing (AH)
LOWERBEAM_C	lowerbeam, chassis
LOWERBEAM_AH	lowerbeam, axle housing (AH)
LOWERBEAM_TB	lowerbeam, transverse beam
SHOCKAH_C	shock at axle housing (AH), chasis
SHOCKAH_AH	shock at axle housing (AH), axle housing
SHOCKLB_C	shock at lower beam (LB), chasis
SHOCKLB_LB	shock at lower beam (LB), lower beam
KNUCKLE_CM	knuckle, center of mass
TORQUEROD_CM	torquerod, center of mass
LOWERBEAM_CM	lowerbeam, center of mass

Constructor & Destructor Documentation

◆ ChHendricksonPRIMAXX()

chrono::vehicle::ChHendricksonPRIMAXX::ChHendricksonPRIMAXX ( const std::string & name )

protected

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChHendricksonPRIMAXX::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the suspension subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChSuspension.

◆ getLocation()

virtual const ChVector3d chrono::vehicle::ChHendricksonPRIMAXX::getLocation ( PointId which )

protectedpure virtual

Return the location of the specified hardpoint.

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

◆ GetShockAHForce()

double chrono::vehicle::ChHendricksonPRIMAXX::GetShockAHForce ( VehicleSide side ) const

inline

Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element.

Get the force in the spring-damper element.

◆ GetShockLBForce()

double chrono::vehicle::ChHendricksonPRIMAXX::GetShockLBForce ( VehicleSide side ) const

inline

There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing.

Spring (coil or air) and damper element between chassis and lower beam (LB) Get the force in the air spring (coil or spring) and a damper element Get the force in the spring-damper element.

◆ getTierodBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::ChHendricksonPRIMAXX::getTierodBushingData ( ) const

inlineprotectedvirtual

Return stiffness and damping data for the tierod bushings.

Used only if tierod bodies are defined (see UseTierodBody). Returning nullptr (default) results in using kinematic joints (spherical + universal).

Reimplemented in chrono::vehicle::HendricksonPRIMAXX.

◆ Initialize()

void chrono::vehicle::ChHendricksonPRIMAXX::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChSubchassis >	subchassis,
		std::shared_ptr< ChSteering >	steering,
		const ChVector3d &	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]	chassis	associated chassis subsystem
[in]	subchassis	associated subchassis subsystem (may be null)
[in]	steering	associated steering subsystem (may be null)
[in]	location	location relative to the chassis frame
[in]	left_ang_vel	initial angular velocity of left wheel
[in]	right_ang_vel	initial angular velocity of right wheel

Reimplemented from chrono::vehicle::ChSuspension.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChHendricksonPRIMAXX::InitializeInertiaProperties ( )

overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ LogHardpointLocations()

void chrono::vehicle::ChHendricksonPRIMAXX::LogHardpointLocations	(	const ChVector3d &	ref,
		bool	inches = `false`
	)

Log the locations of all hardpoints.

The reported locations are expressed in the suspension reference frame. By default, these values are reported in SI units (meters), but can be optionally reported in inches.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChHendricksonPRIMAXX::UpdateInertiaProperties ( )

overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

◆ UseTierodBodies()

virtual bool chrono::vehicle::ChHendricksonPRIMAXX::UseTierodBodies ( ) const

inlineprotectedvirtual

Indicate whether or not tirod bodies are modelled (default: false).

If false, tierods are modelled using distance constraints. If true, rigid tierod bodies are created (in which case a derived class must provide the mass and inertia) and connected either with kinematic joints or bushings (depending on whether or not bushing data is defined).

Reimplemented in chrono::vehicle::HendricksonPRIMAXX.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChHendricksonPRIMAXX.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChHendricksonPRIMAXX.cpp

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ DirectionId

◆ PointId

Constructor & Destructor Documentation

◆ ChHendricksonPRIMAXX()

Member Function Documentation

◆ AddVisualizationAssets()

◆ getLocation()

◆ GetShockAHForce()

◆ GetShockLBForce()

◆ getTierodBushingData()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ LogHardpointLocations()

◆ UpdateInertiaProperties()

◆ UseTierodBodies()