Description

Definition of a suspension test rig using platforms to actuate the tires.

#include <ChSuspensionTestRig.h>

Inheritance diagram for chrono::vehicle::ChSuspensionTestRigPlatform:

Collaboration diagram for chrono::vehicle::ChSuspensionTestRigPlatform:

Public Member Functions
	ChSuspensionTestRigPlatform (std::shared_ptr< ChWheeledVehicle > vehicle, std::vector< int > axle_index, double displ_limit)
	Construct a test rig for specified sets of axles and sterring mechanisms of a given vehicle. More...

	ChSuspensionTestRigPlatform (const std::string &spec_filename)
	Construct a test rig from the given JSON specification file. More...

virtual double	GetActuatorDisp (int axle, VehicleSide side) override
	Return the current post displacement for the specified axle and vehicle side.

virtual double	GetActuatorForce (int axle, VehicleSide side) override
	Return the current post actuation force for the specified axle and vehicle side.

virtual double	GetRideHeight (int axle) const override
	Get current ride height (relative to the chassis reference frame). More...

Public Member Functions inherited from chrono::vehicle::ChSuspensionTestRig
virtual	~ChSuspensionTestRig ()
	Destructor.

void	SetDriver (std::shared_ptr< ChSuspensionTestRigDriver > driver)
	Set driver system.

void	SetInitialRideHeight (double height)
	Set the initial ride height (relative to the chassis reference frame). More...

void	SetDisplacementLimit (double limit)
	Set the limits for post displacement (same for jounce and rebound).

void	IncludeSteeringMechanism (int index)
	Include the specified steering mechanism in testing.

void	IncludeSubchassis (int index)
	Include the specified subchassis in testing.

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystem (default: PRIMITIVES).

void	SetSteeringVisualizationType (VisualizationType vis)
	Set visualization type for the steering subsystems (default: PRIMITIVES).

void	SetSubchassisVisualizationType (VisualizationType vis)
	Set visualization type for the subchassis subsystems (default: PRIMITIVES).

void	SetWheelVisualizationType (VisualizationType vis)
	Set visualization type for the wheel subsystems (default: NONE).

void	SetTireVisualizationType (VisualizationType vis)
	Set visualization type for the tire subsystems (default: PRIMITIVES).

void	Initialize ()
	Initialize the suspension test rig. More...

void	Advance (double step)
	Advance the state of the suspension test rig by the specified time step.

ChWheeledVehicle &	GetVehicle () const
	Get a handle to the underlying vehicle system.

const ChVector3d &	GetSpindlePos (int axle, VehicleSide side) const
	Get the global location of the specified spindle. More...

ChQuaternion	GetSpindleRot (int axle, VehicleSide side) const
	Get the global rotation of the specified spindle. More...

const ChVector3d &	GetSpindleLinVel (int axle, VehicleSide side) const
	Get the linear velocity of the specified spindle (expressed in the global reference frame). More...

ChVector3d	GetSpindleAngVel (int axle, VehicleSide side) const
	Get the angular velocity of the specified spindle (expressed in the global reference frame). More...

double	GetSteeringInput () const
	Return current driver steering input.

double	GetWheelTravel (int axle, VehicleSide side) const
	Get wheel travel, defined here as the vertical displacement of the spindle center from its position at the initial specified ride height (or initial configuration, if an initial ride height is not specified). More...

std::string	GetDriverMessage () const
	Return the info message from the STR driver.

bool	DriverEnded () const
	Return true when driver stopped producing inputs.

void	LogConstraintViolations ()
	Log current constraint violations.

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system (default: false). More...

void	SetPlotOutput (double output_step)
	Enable data collection for plot generation (default: false). More...

void	PlotOutput (const std::string &out_dir, const std::string &out_name)
	Plot collected data. More...

Additional Inherited Members
Protected Member Functions inherited from chrono::vehicle::ChSuspensionTestRig
	ChSuspensionTestRig (std::shared_ptr< ChWheeledVehicle > vehicle, std::vector< int > axle_index, double displ_limit)
	Construct a test rig for specified sets of axles and sterring mechanisms of a given vehicle. More...

	ChSuspensionTestRig (const std::string &spec_filename)
	Construct a test rig from the given JSON specification file. More...

void	CollectPlotData (double time)
	Collect data for plot output.

Protected Attributes inherited from chrono::vehicle::ChSuspensionTestRig
std::shared_ptr< ChWheeledVehicle >	m_vehicle
	associated vehicle

int	m_naxles
	number of tested axles

std::vector< int >	m_axle_index
	list of tested vehicle axles in rig

std::vector< int >	m_steering_index
	list of tested vehicle steering mechanisms in rig

std::vector< int >	m_subchassis_index
	list of tested vehicle subchassis mechanisms in rig

double	m_ride_height
	ride height

double	m_displ_limit
	scale factor for post displacement

std::vector< double >	m_displ_offset
	post displacement offsets (to set reference positions)

Constructor & Destructor Documentation

◆ ChSuspensionTestRigPlatform() [1/2]

chrono::vehicle::ChSuspensionTestRigPlatform::ChSuspensionTestRigPlatform	(	std::shared_ptr< ChWheeledVehicle >	vehicle,
		std::vector< int >	axle_index,
		double	displ_limit
	)

Construct a test rig for specified sets of axles and sterring mechanisms of a given vehicle.

Parameters

vehicle	test vehicle
axle_index	list of tested vehicle axles
displ_limit	displacement limits

◆ ChSuspensionTestRigPlatform() [2/2]

chrono::vehicle::ChSuspensionTestRigPlatform::ChSuspensionTestRigPlatform ( const std::string & spec_filename )

Construct a test rig from the given JSON specification file.

An STR specification file includes the JSON specification for the underlying vehicle, the sets of tested vehicle subsystems, and the displacement limit for the rig posts.

Member Function Documentation

◆ GetRideHeight()

double chrono::vehicle::ChSuspensionTestRigPlatform::GetRideHeight ( int axle ) const

overridevirtual

Get current ride height (relative to the chassis reference frame).

This estimate uses the average of the left and right posts. Note: 'axle' is the index in the set of tested axles.

Implements chrono::vehicle::ChSuspensionTestRig.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChSuspensionTestRig.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChSuspensionTestRig.cpp