chrono::vehicle::MultiLink Class Reference
Description
Multi-link suspension constructed with data from file.
#include <MultiLink.h>
Inheritance diagram for chrono::vehicle::MultiLink:
Collaboration diagram for chrono::vehicle::MultiLink:
Public Member Functions | |
| MultiLink (const std::string &filename) | |
| MultiLink (const rapidjson::Document &d) | |
| virtual bool | UseTierodBodies () const override |
| Indicate whether or not tirod bodies are modelled (default: false). More... | |
| virtual double | getCamberAngle () const override |
| Return the camber angle, in radians (default: 0). | |
| virtual double | getToeAngle () const override |
| Return the toe angle, in radians (default: 0). More... | |
| virtual double | getSpindleMass () const override |
| Return the mass of the spindle body. | |
| virtual double | getUpperArmMass () const override |
| Return the mass of the upper arm body. | |
| virtual double | getLateralMass () const override |
| Return the mass of the lateral body. | |
| virtual double | getTrailingLinkMass () const override |
| Return the mass of the trailing link body. | |
| virtual double | getUprightMass () const override |
| Return the mass of the upright body. | |
| virtual double | getTierodMass () const override |
| Return the mass of the tierod body. | |
| virtual double | getSpindleRadius () const override |
| Return the radius of the spindle body (visualization only). | |
| virtual double | getSpindleWidth () const override |
| Return the width of the spindle body (visualization only). | |
| virtual double | getUpperArmRadius () const override |
| Return the radius of the upper arm body (visualization only). | |
| virtual double | getLateralRadius () const override |
| Return the radius of the lateral body (visualization only). | |
| virtual double | getTrailingLinkRadius () const override |
| Return the radius of the trailing link body (visualization only). | |
| virtual double | getUprightRadius () const override |
| Return the radius of the upright body (visualization only). | |
| virtual double | getTierodRadius () const override |
| Return the radius of the tierod body (visualization only). | |
| virtual const ChVector3d & | getSpindleInertia () const override |
| Return the moments of inertia of the spindle body. | |
| virtual const ChVector3d & | getUpperArmInertia () const override |
| Return the moments of inertia of the upper arm body. | |
| virtual const ChVector3d & | getLateralInertia () const override |
| Return the moments of inertia of the lateral body. | |
| virtual const ChVector3d & | getTrailingLinkInertia () const override |
| Return the moments of inertia of the trailing link body. | |
| virtual const ChVector3d & | getUprightInertia () const override |
| Return the moments of inertia of the upright body. | |
| virtual const ChVector3d | getTierodInertia () const override |
| Return the moments of inertia of the tierod body. | |
| virtual double | getAxleInertia () const override |
| Return the inertia of the axle shaft. | |
| virtual double | getSpringRestLength () const override |
| Return the free (rest) length of the spring element. | |
| virtual double | getShockRestLength () const override |
| Return the free (rest) length of the shock element. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getSpringForceFunctor () const override |
| Return the functor object for spring force. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockForceFunctor () const override |
| Return the functor object for shock force. | |
| virtual std::shared_ptr< ChJoint::BushingData > | getTierodBushingData () const override |
| Return stiffness and damping data for the tierod bushings. More... | |
 Public Member Functions inherited from chrono::vehicle::ChMultiLink | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual bool | IsSteerable () const final override |
| Specify whether or not this suspension can be steered. | |
| virtual bool | IsIndependent () const final override |
| Specify whether or not this is an independent suspension. | |
| virtual void | Construct (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector3d &location, double left_ang_vel, double right_ang_vel) override |
| Construct this suspension subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the suspension subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the suspension subsystem. | |
| virtual double | GetTrack () override |
| Get the wheel track for the suspension subsystem. | |
| std::shared_ptr< ChLinkTSDA > | GetSpring (VehicleSide side) const |
| Get a handle to the specified spring element. | |
| std::shared_ptr< ChLinkTSDA > | GetShock (VehicleSide side) const |
| Get a handle to the specified shock (damper) element. | |
| virtual std::vector< ForceTSDA > | ReportSuspensionForce (VehicleSide side) const override |
| Return current suspension TSDA force information on the specified side. | |
| double | GetSpringForce (VehicleSide side) const |
| Get the force in the spring element. | |
| double | GetSpringLength (VehicleSide side) const |
| Get the current length of the spring element. | |
| double | GetSpringDeformation (VehicleSide side) const |
| Get the current deformation of the spring element. | |
| double | GetShockForce (VehicleSide side) const |
| Get the force in the shock (damper) element. | |
| double | GetShockLength (VehicleSide side) const |
| Get the current length of the shock (damper) element. | |
| double | GetShockVelocity (VehicleSide side) const |
| Get the current deformation velocity of the shock (damper) element. | |
| virtual std::shared_ptr< ChBody > | GetAntirollBody (VehicleSide side) const override |
| Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More... | |
| virtual void | LogConstraintViolations (VehicleSide side) override |
| Log current constraint violations. | |
| void | LogHardpointLocations (const ChVector3d &ref, bool inches=false) |
| Log the locations of all hardpoints. More... | |
| Public Member Functions inherited from chrono::vehicle::ChSuspension | |
| const ChVector3d & | GetRelPosition () const |
| Get the location of the suspension subsystem relative to the associated chassis reference frame. More... | |
| std::shared_ptr< ChSpindle > | GetSpindle (VehicleSide side) const |
| Get a handle to the spindle body on the specified side. | |
| std::shared_ptr< ChShaft > | GetAxle (VehicleSide side) const |
| Get a handle to the axle shaft on the specified side. | |
| std::shared_ptr< ChLinkLockRevolute > | GetRevolute (VehicleSide side) const |
| Get a handle to the revolute joint on the specified side. | |
| const ChVector3d & | GetSpindlePos (VehicleSide side) const |
| Get the global location of the spindle on the specified side. | |
| ChQuaternion | GetSpindleRot (VehicleSide side) const |
| Get the orientation of the spindle body on the specified side. More... | |
| const ChVector3d & | GetSpindleLinVel (VehicleSide side) const |
| Get the linear velocity of the spindle body on the specified side. More... | |
| ChVector3d | GetSpindleAngVel (VehicleSide side) const |
| Get the angular velocity of the spindle body on the specified side. More... | |
| double | GetAxleSpeed (VehicleSide side) const |
| Get the angular speed of the axle on the specified side. | |
| virtual void | Synchronize (double time) |
| Synchronize this suspension subsystem. | |
| virtual void | Advance (double step) |
| Advance the state of the suspension subsystem by the specified time step. | |
| void | ApplyAxleTorque (VehicleSide side, double torque) |
| Apply the provided motor torque. More... | |
| void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector3d &location, double left_ang_vel=0, double right_ang_vel=0) |
| Initialize this suspension subsystem. More... | |
| virtual std::shared_ptr< ChBody > | GetBrakeBody (VehicleSide side) const |
| Specify the body on the specified side for a possible connection to brake subsystem. More... | |
| virtual std::vector< ForceRSDA > | ReportSuspensionTorque (VehicleSide side) const |
| Return current RSDA torque information on the specified side. | |
| void | ApplyParkingBrake (bool brake) |
| Simple model of a parking brake. | |
| 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. | |
| virtual uint16_t | GetVehicleTag () const |
| Get the tag of the associated vehicle. More... | |
| int | GetBodyTag () const |
| Get the tag for component bodies. | |
| 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. | |
| virtual void | SetOutput (bool state) |
| Enable/disable output for this subsystem. | |
| bool | OutputEnabled () const |
| Return the output state for this subsystem. | |
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... | |
| Protected Types inherited from chrono::vehicle::ChMultiLink | |
| enum | PointId { SPINDLE, UPRIGHT, UA_F, UA_B, UA_U, UA_CM, LAT_C, LAT_U, LAT_CM, TL_C, TL_U, TL_CM, SHOCK_C, SHOCK_L, SPRING_C, SPRING_L, TIEROD_C, TIEROD_U, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| enum | DirectionId { UNIV_AXIS_LINK_TL, UNIV_AXIS_CHASSIS_TL, UNIV_AXIS_LINK_LAT, UNIV_AXIS_CHASSIS_LAT, NUM_DIRS } |
| Identifiers for the various vectors. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChMultiLink | |
| ChMultiLink (const std::string &name) | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChSuspension | |
| ChSuspension (const std::string &name) | |
| Construct a suspension subsystem with given name. | |
| 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... | |
| 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. | |
| 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). | |
| Protected Attributes inherited from chrono::vehicle::ChMultiLink | |
| std::shared_ptr< ChBody > | m_upright [2] |
| upright bodies (left/right) | |
| std::shared_ptr< ChBody > | m_upperArm [2] |
| upper arm bodies (left/right) | |
| std::shared_ptr< ChBody > | m_lateral [2] |
| lateral bodies (left/right) | |
| std::shared_ptr< ChBody > | m_trailingLink [2] |
| trailing link bodies (left/right) | |
| std::shared_ptr< ChBody > | m_tierod [2] |
| tierod bodies, if used (left/right) | |
| std::shared_ptr< ChLinkLockRevolute > | m_revoluteUA [2] |
| chassis-UA revolute (left/right) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalUA [2] |
| upright-UA spherical (left/right) | |
| std::shared_ptr< ChLinkUniversal > | m_universalLateralChassis [2] |
| chassis-lateral universal (left/right) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalLateralUpright [2] |
| upright-lateral spherical (left/right) | |
| std::shared_ptr< ChLinkUniversal > | m_universalTLChassis [2] |
| chassis-trailing link universal (left/right) | |
| std::shared_ptr< ChLinkLockSpherical > | m_sphericalTLUpright [2] |
| upright-trailing link spherical (left/right) | |
| std::shared_ptr< ChLinkDistance > | m_distTierod [2] |
| tierod distance constraints (left/right) | |
| std::shared_ptr< ChJoint > | m_sphericalTierod [2] |
| tierod-upright spherical joints (left/right) | |
| std::shared_ptr< ChJoint > | m_universalTierod [2] |
| tierod-chassis universal joints (left/right) | |
| std::shared_ptr< ChLinkTSDA > | m_shock [2] |
| spring links (left/right) | |
| std::shared_ptr< ChLinkTSDA > | m_spring [2] |
| shock links (left/right) | |
| Protected Attributes inherited from chrono::vehicle::ChSuspension | |
| ChVector3d | m_rel_loc |
| location relative to chassis | |
| std::shared_ptr< ChSpindle > | m_spindle [2] |
| handles to spindle bodies | |
| std::shared_ptr< ChShaft > | m_axle [2] |
| handles to axle shafts | |
| std::shared_ptr< ChShaftBodyRotation > | m_axle_to_spindle [2] |
| handles to spindle-shaft connectors | |
| std::shared_ptr< ChLinkLockRevolute > | m_revolute [2] |
| handles to spindle revolute joints | |
| Protected Attributes inherited from chrono::vehicle::ChPart | |
| std::string | m_name |
| subsystem name | |
| bool | m_initialized |
| specifies whether or 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 | |
| int | m_obj_tag |
| tag for part objects | |
Member Function Documentation
◆ getTierodBushingData()
|
inlineoverridevirtual |
Return stiffness and damping data for the tierod bushings.
Used only if tierod bodies are defined (see UseTierodBody). Returning nullptr (default) results in using kinematic joints (spherical + universal).
Reimplemented from chrono::vehicle::ChMultiLink.
◆ getToeAngle()
|
inlineoverridevirtual |
Return the toe angle, in radians (default: 0).
A positive value indicates toe-in, a negative value indicates toe-out.
Reimplemented from chrono::vehicle::ChMultiLink.
◆ UseTierodBodies()
|
inlineoverridevirtual |
Indicate whether or not tirod bodies are modelled (default: false).
If false, tierods are modelled using distance constraints. If true, rigid tierod bodies are created (in which case a derived class must provide the mass and inertia) and connected either with kinematic joints or bushings (depending on whether or not bushing data is defined).
Reimplemented from chrono::vehicle::ChMultiLink.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/MultiLink.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/MultiLink.cpp
