Description

Vehicle wheel constructed with data from file (JSON format).

#include <Wheel.h>

Inheritance diagram for chrono::vehicle::Wheel:
Collaboration diagram for chrono::vehicle::Wheel:

Public Member Functions

 Wheel (const std::string &filename)
 
 Wheel (const rapidjson::Document &d)
 
virtual double GetMass () const override
 Get the wheel mass.
 
virtual ChVector GetInertia () const override
 Get the wheel moments of inertia.
 
virtual double GetRadius () const override
 Get the wheel radius (for visualization only).
 
virtual double GetWidth () const override
 Get the wheel width (for visualization only).
 
void SetRadius (double rad)
 
void SetWidth (double width)
 
- Public Member Functions inherited from chrono::vehicle::ChWheel
 ChWheel (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChBody > spindle, VehicleSide side, double offset=0)
 Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem. More...
 
void Synchronize ()
 Synchronize the wheel subsystem. More...
 
std::shared_ptr< ChTireGetTire () const
 Get the tire attached to this wheel.
 
void SetTire (std::shared_ptr< ChTire > tire)
 Associate the given tire with this wheel.
 
std::shared_ptr< ChBodyGetSpindle () const
 Get the associated spindle body.
 
VehicleSide GetSide () const
 Get the vehicle side on which this wheel is mounted.
 
ChVector GetPos () const
 Get wheel position (expressed in absolute frame).
 
WheelState GetState () const
 Get the current state for this wheel. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the wheel subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the wheel subsystem.
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with wheel visualization mesh. More...
 
- 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.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

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...
 
- 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::ChWheel
std::shared_ptr< ChBodym_spindle
 associated suspension spindle body
 
std::shared_ptr< ChTirem_tire
 attached tire subsystem
 
VehicleSide m_side
 wheel mounted on left/right side
 
double m_offset
 offset from spindle center
 
std::string m_vis_mesh_file
 visualization mesh file (may be empty)
 
std::shared_ptr< ChTriangleMeshShapem_trimesh_shape
 visualization mesh asset
 
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
 
- 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
 

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