Description

Base class for a torsion-bar suspension system using a rotational damper (template definition).

#include <ChRotationalDamperSuspension.h>

Inheritance diagram for chrono::vehicle::ChRotationalDamperSuspension:

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Collaboration diagram for chrono::vehicle::ChRotationalDamperSuspension:

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Public Member Functions
	ChRotationalDamperSuspension (const std::string &name, bool has_shock=true, bool lock_arm=false)

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

virtual std::shared_ptr< ChBody >	GetCarrierBody () const override
	Get a handle to the carrier body.

virtual double	GetCarrierAngle () const override
	Return the current pitch angle of the carrier body. More...

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, ChTrackAssembly *track) override
	Initialize this suspension subsystem. More...

virtual ForceTorque	ReportSuspensionForce () const override
	Return current suspension forces or torques, as appropriate (spring and shock). More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the suspension subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the suspension subsystem.

void	LogConstraintViolations () override
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChTrackSuspension
GuidePinType	GetType () const
	Return the type of track shoe consistent with this road wheel.

std::shared_ptr< ChTrackWheel >	GetRoadWheel () const
	Return a handle to the road wheel subsystem.

std::shared_ptr< ChBody >	GetWheelBody () const
	Return the body of the idler wheel.

std::shared_ptr< ChLinkLockRevolute >	GetWheelRevolute () const
	Get a handle to the revolute joint of the road-wheel.

double	GetWheelRadius () const
	Get the radius of the road wheel.

virtual void	SetOutput (bool state) override
	Enable/disable output for this subsystem. 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.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Types
enum	PointId { ARM, ARM_WHEEL, ARM_CHASSIS, NUM_POINTS }
	Identifiers for the various hardpoints. More...

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

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

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

virtual double	GetArmMass () const =0
	Return the mass of the arm body.

virtual const ChVector3d &	GetArmInertia () const =0
	Return the moments of inertia of the arm body.

virtual double	GetArmVisRadius () const =0
	Return a visualization radius for the arm body.

virtual double	GetSpringRestAngle () const =0
	Return the free (rest) angle of the spring element.

virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor >	GetSpringTorqueFunctor () const =0
	Return the functor object for the torsional spring torque.

virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor >	GetShockTorqueCallback () const =0
	Return the functor object for the rotational shock force.

virtual std::shared_ptr< ChVehicleBushingData >	getArmBushingData () const
	Return stiffness and damping data for the arm bushing. More...

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::ChTrackSuspension
	ChTrackSuspension (const std::string &name, bool has_shock, bool lock_arm)

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_arm
	trailing arm body

std::shared_ptr< ChVehicleJoint >	m_joint
	joint arm-chassis

std::shared_ptr< ChLinkRSDA >	m_spring
	rotational spring link

std::shared_ptr< ChLinkRSDA >	m_shock
	rotational shock link

Protected Attributes inherited from chrono::vehicle::ChTrackSuspension
GuidePinType	m_type
	type of the track shoe matching this road wheel

bool	m_has_shock
	specifies whether or not the suspension has a damper

bool	m_lock_arm
	specified whether the suspension arm is locked

ChVector3d	m_rel_loc
	suspension subsystem location relative to chassis

std::shared_ptr< ChTrackWheel >	m_road_wheel
	road-wheel subsystem

ChTrackAssembly *	m_track
	containing track assembly

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

◆ PointId

enum chrono::vehicle::ChRotationalDamperSuspension::PointId

protected

Identifiers for the various hardpoints.

Enumerator
ARM	arm location
ARM_WHEEL	arm, connection point to road wheel
ARM_CHASSIS	arm, connection point to chassis

Constructor & Destructor Documentation

◆ ChRotationalDamperSuspension()

chrono::vehicle::ChRotationalDamperSuspension::ChRotationalDamperSuspension	(	const std::string &	name,
		bool	has_shock = `true`,
		bool	lock_arm = `false`
	)

Parameters

[in]	name	name of the subsystem
[in]	has_shock	specify whether or not the suspension has a damper
[in]	lock_arm	if true, the suspension arm is locked

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChRotationalDamperSuspension::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::ChTrackSuspension.

◆ getArmBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::ChRotationalDamperSuspension::getArmBushingData ( ) const

inlineprotectedvirtual

Return stiffness and damping data for the arm bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

◆ GetCarrierAngle()

double chrono::vehicle::ChRotationalDamperSuspension::GetCarrierAngle ( ) const

overridevirtual

Return the current pitch angle of the carrier body.

This angle is measured in the x-z transversal plane, from the initial configuration, and follows the right-hand rule.

Implements chrono::vehicle::ChTrackSuspension.

◆ GetLocation()

virtual const ChVector3d chrono::vehicle::ChRotationalDamperSuspension::GetLocation ( PointId which )

protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

◆ Initialize()

void chrono::vehicle::ChRotationalDamperSuspension::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector3d &	location,
		ChTrackAssembly *	track
	)

overridevirtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis body 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 centered at the location of the road wheel and aligned with the chassis reference frame.

Parameters

[in]	chassis	associated chassis subsystem
[in]	location	location relative to the chassis frame
[in]	track	containing track assembly

Reimplemented from chrono::vehicle::ChTrackSuspension.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChRotationalDamperSuspension::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.

◆ ReportSuspensionForce()

ChTrackSuspension::ForceTorque chrono::vehicle::ChRotationalDamperSuspension::ReportSuspensionForce ( ) const

overridevirtual

Return current suspension forces or torques, as appropriate (spring and shock).

A ChRotationalDamperSuspension returns torques for both the spring and the damper.

Implements chrono::vehicle::ChTrackSuspension.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChRotationalDamperSuspension::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.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChRotationalDamperSuspension.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChRotationalDamperSuspension.cpp

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ PointId

Constructor & Destructor Documentation

◆ ChRotationalDamperSuspension()

Member Function Documentation

◆ ExportComponentList()

◆ getArmBushingData()

◆ GetCarrierAngle()

◆ GetLocation()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ ReportSuspensionForce()

◆ UpdateInertiaProperties()