Description

Template for a rigid-body main chassis vehicle subsystem.

#include <ChRigidChassis.h>

Inheritance diagram for chrono::vehicle::ChRigidChassis:

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Collaboration diagram for chrono::vehicle::ChRigidChassis:

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Public Member Functions
	ChRigidChassis (const std::string &name, bool fixed=false)
	Construct a vehicle subsystem with the specified name. More...

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

bool	HasCollision () const
	Specifies whether or not collision shapes were defined.

bool	HasPrimitives () const
	Specifies whether or not visualization primitives were defined.

bool	HasMesh () const
	Specifies whether or not a visualization mesh was defined.

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

virtual void	Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0) override
	Initialize the chassis at the specified global position and orientation. More...

virtual void	EnableCollision (bool state) override
	Enable/disable contact for the chassis. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets () override final
	Remove all visualization assets from this subsystem.

Public Member Functions inherited from chrono::vehicle::ChChassis
	ChChassis (const std::string &name, bool fixed=false)
	Construct a chassis subsystem with the specified name. More...

virtual ChCoordsys	GetLocalDriverCoordsys () const =0
	Get the local driver position and orientation. More...

virtual const ChVector3d	GetLocalPosRearConnector () const
	Get the location (in the local frame of this chassis) of the connection to a rear chassis.

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Get a handle to the vehicle's chassis body.

ChSystem *	GetSystem () const
	Get a pointer to the containing system.

const ChVector3d &	GetPos () const
	Get the global location of the chassis reference frame origin.

ChQuaternion	GetRot () const
	Get the orientation of the chassis reference frame. More...

ChVector3d	GetDriverPos () const
	Get the global location of the driver.

double	GetSpeed () const
	Get the vehicle speed. More...

double	GetCOMSpeed () const
	Get the speed of the chassis COM. More...

double	GetRollRate () const
	Get the roll rate of the chassis. More...

double	GetPitchRate () const
	Get the pitch rate of the chassis. More...

double	GetYawRate () const
	Get the yaw rate of the chassis. More...

double	GetTurnRate () const
	Get the turn rate of the chassis. More...

ChVector3d	GetPointLocation (const ChVector3d &locpos) const
	Get the global position of the specified point. More...

ChVector3d	GetPointVelocity (const ChVector3d &locpos) const
	Get the global velocity of the specified point. More...

ChVector3d	GetPointAcceleration (const ChVector3d &locpos) const
	Get the acceleration at the specified point. More...

void	SetFixed (bool val)
	Set the "fixed to ground" status of the chassis body.

bool	IsFixed () const
	Return true if the chassis body is fixed to ground.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

void	AddMarker (const std::string &name, const ChFrame<> &frame)
	Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkers () const

void	SetAerodynamicDrag (double Cd, double area, double air_density)
	Set parameters and enable aerodynamic drag force calculation. More...

virtual void	Synchronize (double time)
	Update the state of the chassis subsystem. More...

void	AddJoint (std::shared_ptr< ChVehicleJoint > joint)
	Utility function to add a joint (kinematic or bushing) to the vehicle system.

void	AddExternalForceTorque (std::shared_ptr< ExternalForceTorque > load)
	Utility force to add an external load to the chassis body.

void	AddTerrainLoad (std::shared_ptr< ChLoadBase > terrain_load)
	Add a terrain load to the vehicle system. More...

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

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

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 Member Functions
virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const override
	Output data for this subsystem's component list to the specified database.

Protected Member Functions inherited from chrono::vehicle::ChChassis
virtual double	GetBodyMass () const =0

virtual ChFrame	GetBodyCOMFrame () const =0

virtual ChMatrix33	GetBodyInertia () const =0

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
utils::ChBodyGeometry	m_geometry
	collection of visualization and collision shapes

Protected Attributes inherited from chrono::vehicle::ChChassis
std::shared_ptr< ChBodyAuxRef >	m_body
	handle to the chassis body

std::shared_ptr< ChLoadContainer >	m_container_bushings
	load container for vehicle bushings

std::shared_ptr< ChLoadContainer >	m_container_external
	load container for external forces

std::shared_ptr< ChLoadContainer >	m_container_terrain
	load container for terrain forces

std::vector< std::shared_ptr< ExternalForceTorque > >	m_external_loads
	external loads

std::vector< std::shared_ptr< ChMarker > >	m_markers
	list of user-defined markers

bool	m_fixed
	is the chassis body fixed to ground?

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::ChChassis
static void	RemoveJoint (std::shared_ptr< ChVehicleJoint > joint)
	Utility function to remove a joint (kinematic or bushing) from the vehicle system.

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).

Constructor & Destructor Documentation

◆ ChRigidChassis()

chrono::vehicle::ChRigidChassis::ChRigidChassis	(	const std::string &	name,
		bool	fixed = `false`
	)

Construct a vehicle subsystem with the specified name.

Parameters

[in]	name	name of the subsystem
[in]	fixed	is the chassis body fixed to ground?

Member Function Documentation

◆ EnableCollision()

virtual void chrono::vehicle::ChRigidChassis::EnableCollision ( bool state )

inlineoverridevirtual

Enable/disable contact for the chassis.

This function controls contact of the chassis with all other collision shapes in the simulation. Must be called after initialization and has effect only if the derived object has defined some collision shapes.

Implements chrono::vehicle::ChChassis.

◆ ExportComponentList()

void chrono::vehicle::ChRigidChassis::ExportComponentList ( rapidjson::Document & jsonDocument ) const

overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

◆ GetMeshFilename()

const std::string& chrono::vehicle::ChRigidChassis::GetMeshFilename ( ) const

inline

Get the name of the Wavefront file with chassis visualization mesh.

An empty string is returned if no mesh was specified.

◆ Initialize()

void chrono::vehicle::ChRigidChassis::Initialize	(	ChSystem *	system,
		const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel,
		int	collision_family = `0`
	)

overridevirtual

Initialize the chassis at the specified global position and orientation.

Parameters

[in]	system	containing system
[in]	chassisPos	absolute chassis position
[in]	chassisFwdVel	initial chassis forward velocity
[in]	collision_family	chassis collision family

Reimplemented from chrono::vehicle::ChChassis.

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

/builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChRigidChassis.h
/builds/uwsbel/chrono/src/chrono_vehicle/chassis/ChRigidChassis.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes