Description

Three-link Independent Rear Suspension constructed with data from file.

#include <ThreeLinkIRS.h>

Inheritance diagram for chrono::vehicle::ThreeLinkIRS:
Collaboration diagram for chrono::vehicle::ThreeLinkIRS:

Public Member Functions

 ThreeLinkIRS (const std::string &filename)
 
 ThreeLinkIRS (const rapidjson::Document &d)
 
virtual double getSpindleMass () const override
 Return the mass of the spindle body.
 
virtual double getArmMass () const override
 Return the mass of the trailing arm body.
 
virtual double getUpperLinkMass () const override
 Return the mass of the upper link.
 
virtual double getLowerLinkMass () const override
 Return the mass of the lower link.
 
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 getArmRadius () const override
 Return the radius of the trailing arm body (visualization only).
 
virtual double getUpperLinkRadius () const override
 Return the radius of the upper link body (visualization only).
 
virtual double getLowerLinkRadius () const override
 Return the radius of the lower link body (visualization only).
 
virtual const ChVectorgetSpindleInertia () const override
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetArmInertia () const override
 Return the moments of inertia of the trailing arm body. More...
 
virtual const ChVectorgetUpperLinkInertia () const override
 Return the moments of inertia of the upper link. More...
 
virtual const ChVectorgetLowerLinkInertia () const override
 Return the moments of inertia of the lower link. More...
 
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 std::shared_ptr< ChLinkTSDA::ForceFunctorgetSpringForceFunctor () const override
 Return the functor object for spring force.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetShockForceFunctor () const override
 Return the functor object for shock force.
 
- Public Member Functions inherited from chrono::vehicle::ChSuspension
 ChSuspension (const std::string &name)
 
const ChVectorGetLocation () const
 Get the location of the suspension subsystem relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (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 ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector 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.
 
void Synchronize ()
 Synchronize this suspension subsystem. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. More...
 
virtual std::shared_ptr< ChBodyGetBrakeBody (VehicleSide side) const
 Specify the body on the specified side for a possible connection to brake subsystem. More...
 
void ApplyParkingBrake (bool brake)
 Simple model of a parking brake.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
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.
 
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 ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
 Identifiers for the various hardpoints. More...
 Identifiers for various joint directions. More...
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
- Protected Attributes inherited from chrono::vehicle::ChSuspension
ChVector m_location
 location relative to chassis
 
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr< ChLinkLockRevolutem_revolute [2]
 handles to spindle revolute joints
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 

Member Function Documentation

◆ getArmInertia()

virtual const ChVector& chrono::vehicle::ThreeLinkIRS::getArmInertia ( ) const
inlineoverridevirtual

Return the moments of inertia of the trailing arm body.

The x direction is aligned with the arm.

Implements chrono::vehicle::ChThreeLinkIRS.

◆ getLowerLinkInertia()

virtual const ChVector& chrono::vehicle::ThreeLinkIRS::getLowerLinkInertia ( ) const
inlineoverridevirtual

Return the moments of inertia of the lower link.

The x direction is aligned with the link.

Implements chrono::vehicle::ChThreeLinkIRS.

◆ getUpperLinkInertia()

virtual const ChVector& chrono::vehicle::ThreeLinkIRS::getUpperLinkInertia ( ) const
inlineoverridevirtual

Return the moments of inertia of the upper link.

The x direction is aligned with the link.

Implements chrono::vehicle::ChThreeLinkIRS.


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