Description
Definition of a wheel assembly for rig testing.
#include <ChWheelTestRig.h>
Inherited by chrono::vehicle::VehicleWheelAssembly.
Public Member Functions | |
| virtual bool | HasSuspension () const =0 |
Return true if the assembly includes a suspension subsystem and false otherwise. | |
| virtual double | GetMass () const =0 |
| Return the total mass of the wheel assembly. | |
| virtual double | GetWheelMass () const =0 |
| Return the mass of the wheel. | |
| virtual double | GetRadius () const =0 |
| Return the wheel assembly outer radius. | |
| virtual double | GetWidth () const =0 |
| Return the wheel assembly width. | |
| virtual std::shared_ptr< ChBody > | GetHub () const =0 |
| Get a handle to the hub body. | |
| virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis_body, const ChFramed &frame, bool fixed_wheel, double step_size, VisualizationType vis_type) |
| Initialize the wheel assembly. More... | |
| virtual void | Synchronize (double time, const ChTerrain &terrain) |
| Synchronize the wheel assembly at the current simulation time. | |
| virtual void | Advance (double step_size) |
| Advance the wheel assembly dynamics (if any) by the given step size. | |
| virtual TerrainForce | ReportForces (ChTerrain &terrain) const |
| Report the current resultant terrain forces and torques as applied to the hub. | |
| virtual void | RemoveFromSystem () |
| Remove from the containing system all physics items created by this assembly in Initialize(). More... | |
Protected Member Functions | |
| WheelAssembly (ChSystem &system) | |
| Construct the wheel assembly in the specified Chrono system. More... | |
Protected Attributes | |
| ChSystem & | system |
| containing system | |
Constructor & Destructor Documentation
◆ WheelAssembly()
|
inlineprotected |
Construct the wheel assembly in the specified Chrono system.
The constructor must create and set all wheel assembly parts so that its properties can be queried even before initialization.
Member Function Documentation
◆ Initialize()
|
inlinevirtual |
Initialize the wheel assembly.
An assembly that includes a suspension subsystem should attach the suspension to the provided chassis body at the provided frame. An assembly without a suspension subsystem should only create the wheel at the provided frame and, if indicated, set it as fixed.
◆ RemoveFromSystem()
|
inlinevirtual |
Remove from the containing system all physics items created by this assembly in Initialize().
This function is called by the test rig destructor. It should remove only items that the wheel assembly created directly; subsystems that remove their own items on destruction (e.g., wheel, tire, suspension) are not affected.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChWheelTestRig.h
