chrono::vehicle::fmtv::MTV_Balancer Class Reference

Description

MTV balancer subsystem (installed on rear chassis).

#include <MTV_Balancer.h>

Inheritance diagram for chrono::vehicle::fmtv::MTV_Balancer:
Collaboration diagram for chrono::vehicle::fmtv::MTV_Balancer:

Public Member Functions

 MTV_Balancer (const std::string &name)
 
virtual const ChVector3d GetLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual double GetBalancerBeamMass () const override
 Get the balancer mass.
 
virtual const ChVector3dGetBalancerBeamInertia () const override
 Get the inertia tensor of the chassis body.
 
virtual const double GetBalancerMaxPitch () const override
 Get the rear balancer min/max pitch. More...
 
virtual const ChVector3dGetBalancerBeamDimensions () const override
 Get balancer dimensions (for visualization).
 
- Public Member Functions inherited from chrono::vehicle::ChBalancer
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location) override
 Initialize this subchassis subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the balancer subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the balancer subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChSubchassis
const ChVector3dGetLocation () const
 Get the location of the subchassis relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetBeam (VehicleSide side) const
 Get a handle to the beam body on the specified side.
 
- 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 ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () 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.
 

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...
 
- Protected Types inherited from chrono::vehicle::ChBalancer
enum  PointId { BEAM, REVOLUTE, NUM_POINTS }
 Identifiers for the various hardpoints. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChBalancer
 ChBalancer (const std::string &name)
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual const ChVector3d GetDirection ()
 Return the direction of the pin joint (default: Y axis).
 
virtual std::shared_ptr< ChVehicleBushingDataGetBushingData () const
 Return stiffness and damping data for the balancer bushing. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChSubchassis
 ChSubchassis (const std::string &name)
 Construct a subchassis subsystem with given name.
 
- 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.
 
- 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).
 
- Protected Attributes inherited from chrono::vehicle::ChBalancer
std::shared_ptr< ChVehicleJointm_balancer_joint [2]
 balancer pivot joints
 
- Protected Attributes inherited from chrono::vehicle::ChSubchassis
ChVector3d m_rel_loc
 location relative to chassis
 
std::shared_ptr< ChBodym_beam [2]
 handles to beam bodies
 
- 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< ChPartm_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
 

Member Function Documentation

◆ GetBalancerMaxPitch()

virtual const double chrono::vehicle::fmtv::MTV_Balancer::GetBalancerMaxPitch ( ) const
inlineoverridevirtual

Get the rear balancer min/max pitch.

Used only if using a kinematic joint.

Implements chrono::vehicle::ChBalancer.

◆ GetLocation()

const ChVector3d chrono::vehicle::fmtv::MTV_Balancer::GetLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the subchassis reference frame.

Implements chrono::vehicle::ChBalancer.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/MTV_Balancer.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/MTV_Balancer.cpp