chrono::vehicle::generic::Generic_Vehicle Class Reference
Description
Definition of a Generic wheeled vehicle.
This 2-axle vehicle is used as a sandbox for testing the various templates for wheeled vehicle subsystems (suspensions, steering, tires, etc.)
#include <Generic_Vehicle.h>
Inheritance diagram for chrono::vehicle::generic::Generic_Vehicle:
Collaboration diagram for chrono::vehicle::generic::Generic_Vehicle:
Public Member Functions | |
| Generic_Vehicle (bool fixed, SuspensionTypeWV suspension_type_front, SuspensionTypeWV suspension_type_rear, SteeringTypeWV steering_type, DrivelineTypeWV driveline_type, BrakeType brake_type, bool use_tirerod_bodies=false, bool use_antiroll_bar=false, ChContactMethod contactMethod=ChContactMethod::NSC) | |
| Create a generic vehicle with the specified types of subsystems. | |
| Generic_Vehicle (ChSystem *system, bool fixed, SuspensionTypeWV suspension_type_front, SuspensionTypeWV suspension_type_rear, SteeringTypeWV steering_type, DrivelineTypeWV driveline_type, BrakeType brake_type, bool use_tirerod_bodies=false, bool use_antiroll_bar=false) | |
| Create a generic vehicle in the specified Chrono system. | |
| 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 the vehicle at the specified location and with specified orientation. | |
| void | CreateAndInitializeTires (TireModelType tire_type, VisualizationType vis_type) |
| Utility function to create and initialize the 4 vehicle tires to the specified type. | |
| void | CreateAndInitializePowertrain (EngineModelType engine_type, TransmissionModelType transmission_type) |
| Utility function to create and initialize the powertrain system using the specified types. | |
| void | DebugLog (int what) |
| Log debugging information (shock forces and lengths, constraints, etc.). | |
 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) override |
| Update the state of this vehicle at the current time. More... | |
| virtual void | Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain) override |
| 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. | |
| uint16_t | GetVehicleTag () const |
| Get vehicle tag. More... | |
| 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 (ChOutput::Type type, ChOutput::Mode mode, const std::string &out_dir, const std::string &out_name, double output_step) |
| Enable output for this vehicle system. More... | |
| void | SetOutput (ChOutput::Type type, ChOutput::Mode mode, 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, ChOutput &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) | |
| ChOutput * | m_output_db |
| vehicle output database (no output if nullptr) | |
| 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 | |
Member Function Documentation
◆ GetMaxSteeringAngle()
|
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()
|
inlineoverridevirtual |
Return the minimum turning radius.
A concrete wheeled vehicle class should override the default value (20 m).
Reimplemented from chrono::vehicle::ChWheeledVehicle.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/generic/Generic_Vehicle.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/generic/Generic_Vehicle.cpp
