Description

Pacjeka 89 tire model.

#include <ChPac89Tire.h>

Inheritance diagram for chrono::vehicle::ChPac89Tire:
Collaboration diagram for chrono::vehicle::ChPac89Tire:

Public Member Functions

 ChPac89Tire (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
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.
 
virtual double GetRadius () const override
 Get the tire radius.
 
void SetGammaLimit (double gamma_limit)
 Set the limit for camber angle (in degrees). Default: 3 degrees.
 
virtual double GetWidth () const override
 Get the width of the tire.
 
virtual double GetDeflection () const override
 Get the tire deflection.
 
virtual double GetVisualizationWidth () const
 Get visualization width.
 
double GetSlipAngle_internal () const
 Get the slip angle used in Pac89 (expressed in radians). More...
 
double GetLongitudinalSlip_internal () const
 Get the longitudinal slip used in Pac89. More...
 
double GetCamberAngle_internal ()
 Get the camber angle used in Pac89 (expressed in radians). More...
 
- Public Member Functions inherited from chrono::vehicle::ChForceElementTire
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics (if applicable). 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. More...
 
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...
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with tire visualization mesh. More...
 
- 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.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () 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 void SetPac89Params ()=0
 Set the parameters in the Pac89 model.
 
virtual void Initialize (std::shared_ptr< ChWheel > wheel) override
 Initialize this tire by associating it to the specified wheel.
 
virtual void Synchronize (double time, const ChTerrain &terrain) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
- Protected Member Functions inherited from chrono::vehicle::ChForceElementTire
 ChForceElementTire (const std::string &name)
 Construct a tire with the specified name.
 
virtual double GetTireMass () const =0
 Return the tire mass.
 
virtual ChVector GetTireInertia () const =0
 Return the tire moments of inertia (in the tire centroidal frame).
 
virtual double GetNormalStiffnessForce (double depth) const =0
 Return the vertical tire stiffness contribution to the normal force.
 
virtual double GetNormalDampingForce (double depth, double velocity) const =0
 Return the vertical tire damping contribution to the normal force.
 
virtual TerrainForce GetTireForce () const override
 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< ChTriangleMeshShapeAddVisualizationMesh (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 (ChVector<> &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...
 

Protected Attributes

double m_kappa
 longitudinal slip (percentage)
 
double m_alpha
 slip angle (degrees)
 
double m_gamma
 camber angle (degrees)
 
double m_gamma_limit
 limit camber angle (degrees)
 
double m_mu
 Road friction.
 
double m_mu0
 Tire reference friction.
 
double m_unloaded_radius
 Pac89 tire model parameters.
 
double m_width
 
double m_rolling_resistance
 
double m_lateral_stiffness
 
VehicleSide m_measured_side
 
PacCoeff m_PacCoeff
 
TireStates m_states
 
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
 
- Protected Attributes inherited from chrono::vehicle::ChForceElementTire
ContactData m_data
 tire-terrain collision information
 
TerrainForce m_tireforce
 tire forces (in tire contact frame)
 
ChFunction_Recorder m_areaDep
 
- Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheelm_wheel
 associated wheel subsystem
 
double m_stepsize
 tire integration step size (if applicable)
 
CollisionType m_collision_type
 method used for tire-terrain collision
 
std::string m_vis_mesh_file
 name of OBJ file for visualization of this tire (may be empty)
 
- 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
 
std::shared_ptr< ChPartm_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 }
 
- Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector 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 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::ChTire
static bool DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
 Perform disc-terrain collision detection, using the specified method. More...
 
static void ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
 Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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.
 
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

◆ GetCamberAngle_internal()

double chrono::vehicle::ChPac89Tire::GetCamberAngle_internal ( )
inline

Get the camber angle used in Pac89 (expressed in radians).

The reported value will be similar to that reported by ChTire::GetCamberAngle.

◆ GetLongitudinalSlip_internal()

double chrono::vehicle::ChPac89Tire::GetLongitudinalSlip_internal ( ) const
inline

Get the longitudinal slip used in Pac89.

The reported value will be similar to that reported by ChTire::GetLongitudinalSlip.

◆ GetSlipAngle_internal()

double chrono::vehicle::ChPac89Tire::GetSlipAngle_internal ( ) const
inline

Get the slip angle used in Pac89 (expressed in radians).

The reported value will have opposite sign to that reported by ChTire::GetSlipAngle because ChPac89 uses internally a different frame convention.

◆ Synchronize()

void chrono::vehicle::ChPac89Tire::Synchronize ( double  time,
const ChTerrain terrain 
)
overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters
[in]timecurrent time
[in]terrainreference to the terrain system

Reimplemented from chrono::vehicle::ChTire.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChPac89Tire.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChPac89Tire.cpp