Description

Wheeled vehicle model constructed from a JSON specification file.

#include <WheeledVehicle.h>

Inheritance diagram for chrono::vehicle::WheeledVehicle:

Collaboration diagram for chrono::vehicle::WheeledVehicle:

[legend]

Public Member Functions
	WheeledVehicle (const std::string &filename, ChContactMethod contact_method=ChContactMethod::NSC, bool create_powertrain=true, bool create_tires=true)
	Create a wheeled vehicle from the provided JSON specification file. More...

	WheeledVehicle (ChSystem *system, const std::string &filename, bool create_powertrain=true, bool create_tires=true)
	Create a wheeled vehicle from the provided JSON specification file. More...

virtual unsigned int	GetNumberAxles () const override
	Return the number of axles for this vehicle.

virtual double	GetWheelbase () const override
	Return the vehicle wheelbase.

virtual double	GetMinTurningRadius () const override
	Return the minimum turning radius. More...

virtual double	GetMaxSteeringAngle () const override
	Return the maximum steering angle. More...

virtual void	Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
	Initialize this vehicle at the specified global location and orientation. More...

Public Member Functions inherited from chrono::vehicle::ChWheeledVehicle
virtual	~ChWheeledVehicle ()
	Destructor.

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle system template.

const ChAxleList &	GetAxles () const
	Get all vehicle axle subsystems.

std::shared_ptr< ChAxle >	GetAxle (int id) const
	Get the specified vehicle axle subsystem.

std::shared_ptr< ChSuspension >	GetSuspension (int id) const
	Get the specified suspension subsystem.

const ChSteeringList &	GetSteerings () const
	Get all vehicle steering subsystems.

std::shared_ptr< ChSteering >	GetSteering (int id) const
	Get the specified steering subsystem.

std::shared_ptr< ChWheel >	GetWheel (int axle, VehicleSide side, WheelLocation location=SINGLE) const
	Get the specified vehicle wheel, by specifying the axle, side, and wheel location. More...

std::shared_ptr< ChTire >	GetTire (int axle, VehicleSide side, WheelLocation location=SINGLE) const
	Get the specified vehicle tire, by specifying the axle, side, and wheel location. More...

std::shared_ptr< ChBrake >	GetBrake (int axle, VehicleSide side) const
	Get the specified vehicle brake, by specifying the axle and side. More...

std::shared_ptr< ChDrivelineWV >	GetDriveline () const
	Get a handle to the vehicle's driveline subsystem.

std::shared_ptr< ChSubchassis >	GetSubchassis (int id) const
	Get the subchassis system (if none present, returns an empty pointer).

const ChVector3d &	GetSpindlePos (int axle, VehicleSide side) const
	Get the global location of the specified spindle.

ChQuaternion	GetSpindleRot (int axle, VehicleSide side) const
	Get the orientation of the specified spindle. More...

const ChVector3d &	GetSpindleLinVel (int axle, VehicleSide side) const
	Get the linear velocity of the specified spindle. More...

ChVector3d	GetSpindleAngVel (int axle, VehicleSide side) const
	Get the angular velocity of the specified spindle. More...

double	GetSpindleOmega (int axle, VehicleSide side) const
	Get the angular speed of the specified spindle. More...

double	GetSteeringAngle (int axle, VehicleSide side) const
	Get the current steering angle of the specified wheel/spindle. More...

double	GetWheeltrack (int id) const
	Return the vehicle wheel track of the specified suspension subsystem.

void	SetSubchassisVisualizationType (VisualizationType vis)
	Set visualization mode for the sub-chassis subsystems.

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystems. More...

void	SetSteeringVisualizationType (VisualizationType vis)
	Set visualization type for the steering 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...

void	SetWheelCollide (bool state)
	Enable/disable collision for the wheel subsystems. More...

virtual void	SetChassisVehicleCollide (bool state) override
	Enable/disable collision between the chassis and all other vehicle subsystems. More...

void	SetSuspensionOutput (int id, bool state)
	Enable/disable output from the suspension subsystems. More...

void	SetSteeringOutput (int id, bool state)
	Enable/disable output from the steering subsystems. More...

void	SetSubchassisOutput (int id, bool state)
	Enable/disable output from the subchassis subsystems. More...

void	SetAntirollbarOutput (int id, bool state)
	Enable/disable output from the anti-roll bar subsystems. More...

void	SetDrivelineOutput (bool state)
	Enable/disable output from the driveline subsystem. 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...

virtual void	InitializeInertiaProperties () override final
	Calculate total vehicle mass. More...

virtual void	Synchronize (double time, const DriverInputs &driver_inputs)
	Update the state of this vehicle at the current time. More...

virtual void	Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain)
	Update the state of this vehicle at the current time. More...

virtual void	Advance (double step) override final
	Advance the state of this vehicle by the specified time step. More...

void	LockAxleDifferential (int axle, bool lock)
	Lock/unlock the differential on the specified axle. More...

void	LockCentralDifferential (int which, bool lock)
	Lock/unlock the specified central differential. More...

void	EnableBrakeLocking (bool lock)
	Enable/disable brake locking. More...

void	ApplyParkingBrake (bool lock)
	Engage/disengage parking brake. More...

bool	ParkingBrake () const
	Returns the state of the parking brake (true if enagaged, false otherwise).

void	DisconnectDriveline ()
	Disconnect driveline. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

void	LogSubsystemTypes ()
	Log the types (template names) of current vehicle subsystems.

virtual std::string	ExportComponentList () const override
	Return a JSON string with information on all modeling components in the vehicle system. More...

virtual void	ExportComponentList (const std::string &filename) const override
	Write a JSON-format file with information on all modeling components in the vehicle system. More...

Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual	~ChVehicle ()
	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.

ChSystem *	GetSystem ()
	Get a pointer to the Chrono ChSystem.

double	GetChTime () const
	Get the current simulation time of the underlying ChSystem.

std::shared_ptr< ChChassis >	GetChassis () const
	Get a handle to the vehicle's main chassis subsystem.

std::shared_ptr< ChChassisRear >	GetChassisRear (int id) const
	Get the specified specified rear chassis subsystem.

std::shared_ptr< ChChassisConnector >	GetChassisConnector (int id) const
	Get a handle to the specified chassis connector.

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const
	Get a handle to the vehicle's chassis body.

std::shared_ptr< ChBodyAuxRef >	GetChassisRearBody (int id) const
	Get a handle to the specified rear chassis body.

std::shared_ptr< ChPowertrainAssembly >	GetPowertrainAssembly () const
	Get the powertrain attached to this vehicle.

std::shared_ptr< ChEngine >	GetEngine () const
	Get the engine in the powertrain assembly (if a powertrain is attached).

std::shared_ptr< ChTransmission >	GetTransmission () const
	Get the transmission in the powertrain assembly (if a powertrain is attached).

double	GetMass () const
	Get the vehicle total mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current vehicle inertia (relative to the vehicle COM frame).

const ChFrameMoving &	GetRefFrame () const
	Get the current vehicle reference frame. More...

const ChFrame &	GetTransform () const
	Get the current vehicle transform relative to the global frame. More...

const ChVector3d &	GetPos () const
	Get the vehicle global location. More...

ChQuaternion	GetRot () const
	Get the vehicle orientation. More...

double	GetRoll () const
	Get vehicle roll angle. More...

double	GetPitch () const
	Get vehicle pitch angle. More...

double	GetRoll (const ChTerrain &terrain) const
	Get vehicle roll angle (relative to local terrain). More...

double	GetPitch (const ChTerrain &terrain) const
	Get vehicle pitch angle (relative to local terrain). More...

double	GetSpeed () const
	Get the vehicle speed (velocity component in the vehicle forward direction). More...

double	GetSlipAngle () const
	Get the vehicle slip angle. More...

double	GetRollRate () const
	Get the vehicle roll rate. More...

double	GetPitchRate () const
	Get the vehicle pitch rate. More...

double	GetYawRate () const
	Get the vehicle yaw rate. More...

double	GetTurnRate () const
	Get the vehicle turn rate. More...

ChVector3d	GetPointLocation (const ChVector3d &locpos) const
	Get the global position of the specified point. More...

ChVector3d	GetPointVelocity (const ChVector3d &locpos) const
	Get the global velocity of the specified point. More...

ChVector3d	GetPointAcceleration (const ChVector3d &locpos) const
	Get the acceleration at the specified point. More...

ChVector3d	GetDriverPos () const
	Get the global location of the driver.

void	EnableRealtime (bool val)
	Enable/disable soft real-time (default: false). More...

double	GetRTF () const
	Get current estimated RTF (real time factor). More...

double	GetStepRTF () const
	Get current estimated step RTF (real time factor). More...

void	SetCollisionSystemType (ChCollisionSystem::Type collsys_type)
	Change the default collision detection system. More...

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system. More...

void	SetOutput (ChVehicleOutput::Type type, std::ostream &out_stream, double output_step)
	Enable output for this vehicle system using an existing output stream. More...

void	InitializePowertrain (std::shared_ptr< ChPowertrainAssembly > powertrain)
	Initialize the given powertrain assembly and associate it to this vehicle. More...

void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem.

void	SetChassisRearVisualizationType (VisualizationType vis)
	Set visualization mode for the rear chassis subsystems.

void	SetChassisCollide (bool state)
	Enable/disable collision for the chassis subsystem. More...

void	SetChassisOutput (bool state)
	Enable/disable output from the chassis subsystem.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

Additional Inherited Members
Protected Member Functions inherited from chrono::vehicle::ChWheeledVehicle
	ChWheeledVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with a default ChSystem. More...

	ChWheeledVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

virtual void	UpdateInertiaProperties () override final
	Calculate current vehicle inertia properties. More...

virtual void	Output (int frame, ChVehicleOutput &database) const override
	Output data for all modeling components in the vehicle system.

Protected Member Functions inherited from chrono::vehicle::ChVehicle
	ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with an underlying ChSystem. More...

	ChVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

void	SetSystem (ChSystem *sys)
	Set the associated Chrono system.

Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool	AnyOutput (const std::vector< std::shared_ptr< T >> &list)
	Utility function for testing if any subsystem in a list generates output.

Protected Attributes inherited from chrono::vehicle::ChWheeledVehicle
ChSubchassisList	m_subchassis
	list of subchassis subsystems (typically empty)

ChAxleList	m_axles
	list of axle subsystems

ChSteeringList	m_steerings
	list of steering subsystems

std::shared_ptr< ChDrivelineWV >	m_driveline
	driveline subsystem

bool	m_parking_on
	indicates whether or not parking brake is engaged

Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string	m_name
	vehicle name

ChSystem *	m_system
	pointer to the Chrono system

bool	m_ownsSystem
	true if system created at construction

double	m_mass
	total vehicle mass

ChFrame	m_com
	current vehicle COM (relative to the vehicle reference frame)

ChMatrix33	m_inertia
	current total vehicle inertia (Relative to the vehicle COM frame)

bool	m_output
	generate ouput for this vehicle system

ChVehicleOutput *	m_output_db
	vehicle output database

double	m_output_step
	output time step

double	m_next_output_time
	time for next output

int	m_output_frame
	current output frame

std::shared_ptr< ChChassis >	m_chassis
	handle to the main chassis subsystem

ChChassisRearList	m_chassis_rear
	list of rear chassis subsystems (can be empty)

ChChassisConnectorList	m_chassis_connectors
	list of chassis connector (must match m_chassis_rear)

std::shared_ptr< ChPowertrainAssembly >	m_powertrain_assembly
	associated powertrain system

Constructor & Destructor Documentation

◆ WheeledVehicle() [1/2]

chrono::vehicle::WheeledVehicle::WheeledVehicle	(	const std::string &	filename,
		ChContactMethod	contact_method = `ChContactMethod::NSC`,
		bool	create_powertrain = `true`,
		bool	create_tires = `true`
	)

Create a wheeled vehicle from the provided JSON specification file.

The vehicle is added to a newly created Chrono system which uses the specified contact formulation. If indicated, an associated powertrain and tires are created (if specified in the JSON file).

◆ WheeledVehicle() [2/2]

chrono::vehicle::WheeledVehicle::WheeledVehicle	(	ChSystem *	system,
		const std::string &	filename,
		bool	create_powertrain = `true`,
		bool	create_tires = `true`
	)

Create a wheeled vehicle from the provided JSON specification file.

The vehicle is added to the given Chrono system. If indicated, an associated powertrain and tires are created (if specified in the JSON file).

Member Function Documentation

◆ GetMaxSteeringAngle()

virtual double chrono::vehicle::WheeledVehicle::GetMaxSteeringAngle ( ) const

inlineoverridevirtual

Return the maximum steering angle.

This default implementation estimates the maximum steering angle based on a bicycle model and the vehicle minimum turning radius.

Reimplemented from chrono::vehicle::ChWheeledVehicle.

◆ GetMinTurningRadius()

virtual double chrono::vehicle::WheeledVehicle::GetMinTurningRadius ( ) const

inlineoverridevirtual

Return the minimum turning radius.

A concrete wheeled vehicle class should override the default value (20 m).

Reimplemented from chrono::vehicle::ChWheeledVehicle.

◆ Initialize()

void chrono::vehicle::WheeledVehicle::Initialize	(	const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel = `0`
	)

overridevirtual

Initialize this vehicle at the specified global location and orientation.

Derived classes must invoke this base class implementation after they initialize all their subsystem.

Parameters

[in]	chassisPos	initial global position and orientation
[in]	chassisFwdVel	initial chassis forward velocity

Reimplemented from chrono::vehicle::ChVehicle.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/vehicle/WheeledVehicle.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/vehicle/WheeledVehicle.cpp