Description

ARTcar wheel base class.

#include <ARTcar_Wheel.h>

Inheritance diagram for chrono::vehicle::artcar::ARTcar_Wheel:

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Collaboration diagram for chrono::vehicle::artcar::ARTcar_Wheel:

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Public Member Functions
	ARTcar_Wheel (const std::string &name)

virtual double	GetWheelMass () const override

virtual const ChVector3d &	GetWheelInertia () const override

virtual double	GetRadius () const override
	Get the wheel radius (for visualization only).

virtual double	GetWidth () const override
	Get the wheel width (for visualization only).

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.

Public Member Functions inherited from chrono::vehicle::ChWheel
virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, 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	EnableCollision (bool state)
	Enable/disable contact for the wheel. More...

void	Synchronize ()
	Synchronize the wheel subsystem. More...

void	Synchronize (const TerrainForce &tire_force)
	Synchronize the wheel subsystem. More...

std::shared_ptr< ChTire >	GetTire () 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< ChBody >	GetSpindle () const
	Get the associated spindle body.

VehicleSide	GetSide () const
	Get the vehicle side on which this wheel is mounted.

ChVector3d	GetPos () const
	Get wheel position (expressed in absolute frame).

WheelState	GetState () const
	Get the current state for this wheel. More...

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
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.

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.

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.

Protected Member Functions
virtual std::string	GetMeshName () const =0

virtual std::string	GetMeshFile () const =0

Protected Member Functions inherited from chrono::vehicle::ChWheel
	ChWheel (const std::string &name)
	Construct a wheel subsystem with given 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::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...

virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. 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.

Protected Attributes
std::shared_ptr< ChVisualShapeTriangleMesh >	m_trimesh_shape

Protected Attributes inherited from chrono::vehicle::ChWheel
std::shared_ptr< ChBody >	m_spindle
	associated suspension spindle body

std::shared_ptr< ChTire >	m_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< ChVisualShapeTriangleMesh >	m_trimesh_shape
	visualization mesh asset

std::shared_ptr< ChVisualShape >	m_cyl_shape
	visualization cylinder asset

std::shared_ptr< ChLoadBodyForce >	m_spindle_terrain_force
	terrain force loads on the spindle

std::shared_ptr< ChLoadBodyTorque >	m_spindle_terrain_torque
	terrain torque loads on the spindle

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether ot 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

Static Protected Attributes
static const double	m_radius = .103 / 2

static const double	m_width = .0855

static const double	m_mass = .07

static const ChVector3d	m_inertia

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...

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).

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::artcar::ARTcar_Wheel::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the wheel subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChWheel.

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/artcar/ARTcar_Wheel.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/artcar/ARTcar_Wheel.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddVisualizationAssets()