Description
Terrain object representing an uneven area with controlled roughness.
By default, this class implements a terrain modeled as an infinite horizontal plane at a specified height with the uneven terrain lane of specified length and width starting at the origin. This type of terrain can be used in conjunction with tire models that perform their own collision detection (e.g., ChTMeasy ChPac89, ChPac02, ChFiala).
Alternatively, this terrain type can be represented as a collision mesh representing the uneven lane with an optional flat starting lane. This terrain type can be used with vehicles that require contact for the vehicle-terrain interaction (wheeled vehicle with rigid tires or tracked vehicles).
#include <RandomSurfaceTerrain.h>
Public Member Functions | |
| RandomSurfaceTerrain (ChSystem *system, double length=300.0, double width=5.0, double height=0.0, float friction=0.8f) | |
| virtual double | GetHeight (const ChVector3d &loc) const override |
| Get the terrain height below the specified location. More... | |
| virtual ChVector3d | GetNormal (const ChVector3d &loc) const override |
| Get the terrain normal at the point below the specified location. More... | |
| virtual float | GetCoefficientFriction (const ChVector3d &loc) const override |
| Get the terrain coefficient of friction at the point below the specified location. More... | |
| double | GetRMS () |
| Get the (detrended) root mean square of the tracks, height offset is not considered [m]. | |
| double | GetIRI () |
| Get the International Roughness Index, estimated from unevenness and waviness [m/km]. | |
| void | EnableCollisionMesh (std::shared_ptr< ChContactMaterial > material, double length=0, double sweep_sphere_radius=0) |
| Enable creation of a collision mesh and enable collision (default: no collision mesh). More... | |
| void | Initialize (RandomSurfaceTerrain::SurfaceType surfType=RandomSurfaceTerrain::SurfaceType::FLAT, double vehicleTrackWidth=2.0, RandomSurfaceTerrain::VisualisationType vType=RandomSurfaceTerrain::VisualisationType::MESH) |
| Select a road surface from presets, ISO 8608 and literature. | |
| void | Initialize (double unevenness, double waviness=2.0, double vehicleTrackWidth=2.0, bool considerCorrelation=true, RandomSurfaceTerrain::VisualisationType vType=RandomSurfaceTerrain::VisualisationType::MESH) |
| Directly generate a road surface from unevenness and waviness, optional consideration of correlation, if unevenness fits between ISO classes A to E. | |
| void | Initialize (double iri, double vehicleTrackWidth=2.0, bool considerCorrelation=true, RandomSurfaceTerrain::VisualisationType vType=RandomSurfaceTerrain::VisualisationType::MESH) |
| Directly generate a road surface from International Roughness Index [mm/m], optional consideration of correlation, if unevenness fits between ISO classes A to E. | |
 Public Member Functions inherited from chrono::vehicle::ChTerrain | |
| virtual void | Synchronize (double time) |
| Update the state of the terrain system at the specified time. | |
| virtual void | Advance (double step) |
| Advance the state of the terrain system by the specified duration. | |
| virtual void | GetProperties (const ChVector3d &loc, double &height, ChVector3d &normal, float &friction) const |
| Get all terrain characteristics at the point below the specified location. | |
| void | RegisterHeightFunctor (std::shared_ptr< HeightFunctor > functor) |
| Specify the functor object to provide the terrain height at given locations. More... | |
| void | RegisterNormalFunctor (std::shared_ptr< NormalFunctor > functor) |
| Specify the functor object to provide the terrain normal at given locations. More... | |
| void | RegisterFrictionFunctor (std::shared_ptr< FrictionFunctor > functor) |
| Specify the functor object to provide the coefficient of friction at given locations. | |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::vehicle::ChTerrain | |
| std::shared_ptr< HeightFunctor > | m_height_fun |
| functor for location-dependent terrain height | |
| std::shared_ptr< NormalFunctor > | m_normal_fun |
| functor for location-dependent terrain normal | |
| std::shared_ptr< FrictionFunctor > | m_friction_fun |
| functor for location-dependent coefficient of friction | |
Constructor & Destructor Documentation
◆ RandomSurfaceTerrain()
| chrono::vehicle::RandomSurfaceTerrain::RandomSurfaceTerrain | ( | ChSystem * | system, |
| double | length = 300.0, |
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| double | width = 5.0, |
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| double | height = 0.0, |
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| float | friction = 0.8f |
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| ) |
- Parameters
-
[in] system pointer to the containing multibody system [in] length uneven terrain length [in] width uneven terrain width [in] height terrain height offset [in] friction terrain coefficient of friction
Member Function Documentation
◆ EnableCollisionMesh()
| void chrono::vehicle::RandomSurfaceTerrain::EnableCollisionMesh | ( | std::shared_ptr< ChContactMaterial > | material, |
| double | length = 0, |
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| double | sweep_sphere_radius = 0 |
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| ) |
Enable creation of a collision mesh and enable collision (default: no collision mesh).
Optionally (length > 0), create a flat lane of given length positioned before the uneven portion. The specified radius (default 0) is used as a "mesh thickness" to improve robustness of the collision detection. Note that this function must be called before Initialize().
◆ GetCoefficientFriction()
|
overridevirtual |
Get the terrain coefficient of friction at the point below the specified location.
This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For RandomSurfaceTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified at construction.
Reimplemented from chrono::vehicle::ChTerrain.
◆ GetHeight()
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overridevirtual |
Get the terrain height below the specified location.
Returns the constant value passed at construction.
Reimplemented from chrono::vehicle::ChTerrain.
◆ GetNormal()
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overridevirtual |
Get the terrain normal at the point below the specified location.
Returns a constant unit vector along the vertical axis.
Reimplemented from chrono::vehicle::ChTerrain.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/terrain/RandomSurfaceTerrain.h
- /builds/uwsbel/chrono/src/chrono_vehicle/terrain/RandomSurfaceTerrain.cpp
