Description

Base class for a road wheel subsystem.

#include <ChRoadWheel.h>

Inheritance diagram for chrono::vehicle::ChRoadWheel:
Collaboration diagram for chrono::vehicle::ChRoadWheel:

Public Member Functions

 ChRoadWheel (const std::string &name)
 
virtual GuidePinType GetType () const =0
 Return the type of track shoe consistent with this road wheel.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
virtual double GetWheelMass () const =0
 Return the mass of the road wheel body.
 
virtual const ChVectorGetWheelInertia ()=0
 Return the moments of inertia of the road wheel body.
 
virtual double GetWheelRadius () const =0
 Get the radius of the road wheel.
 
void SetCollide (bool val)
 Turn on/off collision flag for the road wheel.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, std::shared_ptr< ChBody > carrier, const ChVector<> &location, ChTrackAssembly *track)
 Initialize this road wheel subsystem. More...
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from 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 CreateContactMaterial (ChContactMethod contact_method)=0
 Create the contact material consistent with the specified contact method.
 
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::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

std::shared_ptr< ChBodym_wheel
 handle to the road wheel body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to wheel revolute joint
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
ChTrackAssemblym_track
 containing track assembly
 
- 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
 

Friends

class ChTrackAssembly
 
class ChRoadWheelAssembly
 

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.
 

Constructor & Destructor Documentation

◆ ChRoadWheel()

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

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChRoadWheel::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.

◆ Initialize()

void chrono::vehicle::ChRoadWheel::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
std::shared_ptr< ChBody carrier,
const ChVector<> &  location,
ChTrackAssembly track 
)
virtual

Initialize this road wheel subsystem.

The road wheel subsystem is initialized by attaching it to the specified carrier body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the road wheel subsystem reference frame is always aligned with the chassis reference frame. A derived road wheel subsystem template class must extend this default implementation and specify contact geometry for the road wheel.

Parameters
[in]chassishandle to the chassis body
[in]carrierhandle to the carrier body
[in]locationlocation relative to the chassis frame
[in]trackcontaining track assembly

Reimplemented in chrono::vehicle::ChDoubleRoadWheel, and chrono::vehicle::ChSingleRoadWheel.


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