chrono::vehicle::generic::Generic_SimpleDriveline Class Reference
Description
Simple driveline model for the generic vehicle (purely kinematic).
#include <Generic_SimpleDriveline.h>
Inheritance diagram for chrono::vehicle::generic::Generic_SimpleDriveline:
Collaboration diagram for chrono::vehicle::generic::Generic_SimpleDriveline:
Public Member Functions | |
| Generic_SimpleDriveline (const std::string &name) | |
| virtual double | GetFrontTorqueFraction () const override |
| Return the front torque fraction [0,1]. | |
| virtual double | GetFrontDifferentialMaxBias () const override |
| Return the torque bias ratio for the front differential. More... | |
| virtual double | GetRearDifferentialMaxBias () const override |
| Return the torque bias ratio for the rear differential. More... | |
| virtual double | GetFrontConicalGearRatio () const override |
| Return the gear ratio for the front conical gear. | |
| virtual double | GetRearConicalGearRatio () const override |
| Return the gear ratio for the rear conical gear. | |
 Public Member Functions inherited from chrono::vehicle::ChSimpleDriveline | |
| ChSimpleDriveline (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual unsigned int | GetNumDrivenAxles () const final override |
| Return the number of driven axles. | |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles) override |
| Initialize the driveline subsystem. More... | |
| virtual void | Synchronize (double time, const DriverInputs &driver_inputs, double driveshaft_torque) override |
| Update the driveline subsystem: apply the specified motor torque. More... | |
| virtual double | GetSpindleTorque (int axle, VehicleSide side) const override |
| Get the motor torque to be applied to the specified spindle. | |
| virtual void | Disconnect () override |
| Disconnect driveline from driven wheels. | |
| virtual double | GetOutputDriveshaftSpeed () const override |
| Return the output driveline speed of the driveshaft. More... | |
| void | SetZeroTorqueBand (double zero) |
| Public Member Functions inherited from chrono::vehicle::ChDrivelineWV | |
| virtual void | LockAxleDifferential (int axle, bool lock) |
| Lock/unlock the differential on the specified axle. More... | |
| virtual void | LockCentralDifferential (int which, bool lock) |
| Lock/unlock the specified central differential. More... | |
| const std::vector< int > & | GetDrivenAxleIndexes () const |
| Get the indexes of the vehicle's axles driven by this driveline subsystem. | |
| Public Member Functions inherited from chrono::vehicle::ChDriveline | |
| void | Initialize (std::shared_ptr< ChChassis > chassis) |
| Initialize the driveline. | |
| 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. | |
| virtual uint16_t | GetVehicleTag () const |
| Get the tag of the associated vehicle. More... | |
| int | GetBodyTag () const |
| Get the tag for component bodies. | |
| 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 | AddVisualizationAssets (VisualizationType vis) |
| Add visualization assets to this subsystem, for the specified visualization mode. | |
| virtual void | RemoveVisualizationAssets () |
| Remove all visualization assets from 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 (ChOutput &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 ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot) |
| Utility function for transforming inertia tensors between centroidal frames. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChDrivelineWV | |
| ChDrivelineWV (const std::string &name) | |
| Protected Member Functions inherited from chrono::vehicle::ChDriveline | |
| ChDriveline (const std::string &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. | |
| 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::ChDrivelineWV | |
| std::vector< int > | m_driven_axles |
| indexes of the driven vehicle axles | |
| Protected Attributes inherited from chrono::vehicle::ChPart | |
| std::string | m_name |
| subsystem name | |
| bool | m_initialized |
| specifies whether or 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 | |
| int | m_obj_tag |
| tag for part objects | |
Member Function Documentation
◆ GetFrontDifferentialMaxBias()
|
inlineoverridevirtual |
Return the torque bias ratio for the front differential.
This is a simple model of a Torsen limited-slip differential.
Implements chrono::vehicle::ChSimpleDriveline.
◆ GetRearDifferentialMaxBias()
|
inlineoverridevirtual |
Return the torque bias ratio for the rear differential.
This is a simple model of a Torsen limited-slip differential.
Implements chrono::vehicle::ChSimpleDriveline.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/generic/driveline/Generic_SimpleDriveline.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/generic/driveline/Generic_SimpleDriveline.cpp
