chrono::vehicle::ChWheeledTrailer Class Referenceabstract

Description

Base class for chrono wheeled trailer systems.

This class provides the interface between the trailer system and other systems (vehicle, tires, etc.). The reference frame for a trailer follows the ISO standard: Z-axis up, X-axis pointing forward, and Y-axis towards the left of the vehicle.

#include <ChWheeledTrailer.h>

Inheritance diagram for chrono::vehicle::ChWheeledTrailer:

Public Member Functions

 ChWheeledTrailer (const std::string &name, ChSystem *system)
 Construct a trailer system using the specified ChSystem. More...
 
virtual ~ChWheeledTrailer ()
 Destructor.
 
const std::string & GetName () const
 Get the name identifier for this vehicle.
 
void SetName (const std::string &name)
 Set the name identifier for this vehicle.
 
virtual int GetNumberAxles () const =0
 Return the number of axles for this trailer.
 
virtual std::string GetTemplateName () const
 Get the name of the trailer system template.
 
std::shared_ptr< ChChassisRearGetChassis () const
 Get the trailer chassis subsystem.
 
const chrono::vehicle::ChAxleListGetAxles () const
 Get all trailer axle subsystems.
 
std::shared_ptr< chrono::vehicle::ChAxleGetAxle (int id) const
 Get the specified trailer axle subsystem.
 
void SetChassisVisualizationType (VisualizationType vis)
 Set visualization mode for the chassis subsystem. More...
 
void SetSuspensionVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystems. More...
 
void SetWheelVisualizationType (VisualizationType vis)
 Set visualization type for the wheel subsystems. More...
 
void SetTireVisualizationType (VisualizationType vis)
 Set visualization type for the tire subsystems. More...
 
virtual void Initialize (std::shared_ptr< ChChassis > frontChassis)
 Initialize this trailer relative to the specified front chassis. More...
 
void InitializeTire (std::shared_ptr< ChTire > tire, std::shared_ptr< ChWheel > wheel, VisualizationType tire_vis=VisualizationType::PRIMITIVES, ChTire::CollisionType tire_coll=ChTire::CollisionType::SINGLE_POINT)
 Initialize the given tire and attach it to the specified wheel. More...
 
void Synchronize (double time, double braking, const ChTerrain &terrain)
 Update the state of this trailer at the current time. More...
 
void Advance (double step)
 Advance the state of this trailer by the specified time step. More...
 

Protected Attributes

std::string m_name
 trailer system name
 
std::shared_ptr< ChChassisRearm_chassis
 trailer chassis
 
std::shared_ptr< ChChassisConnectorHitchm_connector
 connector to pulling vehicle
 
chrono::vehicle::ChAxleList m_axles
 list of axle subsystems
 

Constructor & Destructor Documentation

◆ ChWheeledTrailer()

chrono::vehicle::ChWheeledTrailer::ChWheeledTrailer ( const std::string &  name,
ChSystem system 
)

Construct a trailer system using the specified ChSystem.

Parameters
[in]nametrailer system name
[in]systemcontaining mechanical system

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChWheeledTrailer::Advance ( double  step)

Advance the state of this trailer by the specified time step.

This function advances the states of all associated tires.

◆ Initialize()

void chrono::vehicle::ChWheeledTrailer::Initialize ( std::shared_ptr< ChChassis frontChassis)
virtual

Initialize this trailer relative to the specified front chassis.

This base class implementation only initializes the trailer chassis and connector subsystems. Derived classes must extend this function to initialize the axle subsystems.

Reimplemented in chrono::vehicle::kraz::Kraz_trailer, and chrono::vehicle::WheeledTrailer.

◆ InitializeTire()

void chrono::vehicle::ChWheeledTrailer::InitializeTire ( std::shared_ptr< ChTire tire,
std::shared_ptr< ChWheel wheel,
VisualizationType  tire_vis = VisualizationType::PRIMITIVES,
ChTire::CollisionType  tire_coll = ChTire::CollisionType::SINGLE_POINT 
)

Initialize the given tire and attach it to the specified wheel.

Optionally, specify tire visualization mode and tire-terrain collision detection method. This function should be called only after trailer initialization.

◆ SetChassisVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetChassisVisualizationType ( VisualizationType  vis)

Set visualization mode for the chassis subsystem.

This function should be called only after trailer initialization.

◆ SetSuspensionVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetSuspensionVisualizationType ( VisualizationType  vis)

Set visualization type for the suspension subsystems.

This function should be called only after trailer initialization.

◆ SetTireVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetTireVisualizationType ( VisualizationType  vis)

Set visualization type for the tire subsystems.

This function should be called only after trailer and tire initialization.

◆ SetWheelVisualizationType()

void chrono::vehicle::ChWheeledTrailer::SetWheelVisualizationType ( VisualizationType  vis)

Set visualization type for the wheel subsystems.

This function should be called only after trailer initialization.

◆ Synchronize()

void chrono::vehicle::ChWheeledTrailer::Synchronize ( double  time,
double  braking,
const ChTerrain terrain 
)

Update the state of this trailer at the current time.

The trailer system is provided the current braking input (between 0 and 1) and a reference to the terrain system.


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