Description

TMsimple tire model for the HMMWV vehicle.

#include <HMMWV_TMsimpleTire.h>

Inheritance diagram for chrono::vehicle::hmmwv::HMMWV_TMsimpleTire:

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Collaboration diagram for chrono::vehicle::hmmwv::HMMWV_TMsimpleTire:

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

virtual double	GetNormalStiffnessForce (double depth) const override
	Return the vertical tire stiffness contribution to the normal force.

virtual double	GetNormalDampingForce (double depth, double velocity) const override
	Return the vertical tire damping contribution to the normal force.

virtual double	GetVisualizationWidth () const override
	Get visualization width.

virtual void	SetTMsimpleParams () override
	Set the parameters in the TMsimple model.

virtual double	GetTireMass () const override
	Return the tire mass.

virtual ChVector	GetTireInertia () const override
	Return the tire moments of inertia (in the tire centroidal frame).

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the rigid tire subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the rigid tire subsystem.

Public Member Functions inherited from chrono::vehicle::ChTMsimpleTire
	ChTMsimpleTire (const std::string &name)

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

virtual double	GetRadius () const override
	Get the tire width. More...

virtual double	GetWidth () const override
	Get the width of the tire.

double	GetSlipAngle_internal () const
	Get the tire slip angle computed internally by the TMsimple model (in radians). More...

double	GetLongitudinalSlip_internal () const
	Get the tire longitudinal slip computed internally by the TMsimple model. More...

double	GetCamberAngle_internal ()
	Get the camber angle for the TMsimple tire model (in radians). More...

virtual double	GetDeflection () const override
	Get the tire deflection.

void	GuessTruck80Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
	Guess Tire Parameters from characteristic truck tire parameter pattern (Ratio = 80%). More...

void	GuessTruck80Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)

void	GuessPassCar70Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
	Guess Tire Parameters from characteristic passenger car tire parameter pattern (Ratio = 70%). More...

void	GuessPassCar70Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)

void	WritePlots (const std::string &plFileName, const std::string &plTireFormat)
	Generate basic tire plots. More...

Public Member Functions inherited from chrono::vehicle::ChForceElementTire
virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment.

virtual TerrainForce	ReportTireForce (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Get the tire forces expressed in the tire frame. More...

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the value of the integration step size for the underlying dynamics (if applicable). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction. More...

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire 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.

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.

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }

Static Public Member Functions inherited from chrono::vehicle::ChTMsimpleTire
static double	GetTireMaxLoad (unsigned int li)
	Get maximum tire load from Load Index (LI) in N [0:279].

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector	EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
	Utility function for estimating the tire moments of inertia. More...

Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &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::ChTMsimpleTire
void	GenerateWorkParameters ()

void	TMsimplePatchForces (double &fx, double &fy, double kappa, double alpha, double fz)
	Calculate Patch Forces.

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, const ChTerrain &terrain) override
	Update the state of this tire system at the current time. More...

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

Protected Member Functions inherited from chrono::vehicle::ChForceElementTire
	ChForceElementTire (const std::string &name)
	Construct a tire with the specified name.

virtual TerrainForce	GetTireForce () const override
	Get the tire force and moment. More...

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

void	CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChTriangleMeshShape >	AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
	Add mesh visualization to the body associated with this tire (a wheel spindle body). 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 (ChVector<> &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::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...

static bool	DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Collsion algorithm based on a paper of J. 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).

Protected Attributes inherited from chrono::vehicle::ChTMsimpleTire
double	m_unloaded_radius
	TMsimple tire model parameters.

double	m_width

double	m_rolling_resistance

double	m_mu
	Actual friction coefficient of the road.

double	m_mu_0
	Local friction coefficient of the road for given parameters.

double	m_vcoulomb

double	m_Fz_nom

double	m_Fx_max1

double	m_Fx_inf1

double	m_dFx0_1

double	m_Fx_max2

double	m_Fx_inf2

double	m_dFx0_2

double	m_Fy_max1

double	m_Fy_inf1

double	m_dFy0_1

double	m_Fy_max2

double	m_Fy_inf2

double	m_dFy0_2

double	m_Cz

double	m_Dz

double	m_ax1

double	m_ax2

double	m_bx1

double	m_bx2

double	m_cx1

double	m_cx2

double	m_ay1

double	m_ay2

double	m_by1

double	m_by2

double	m_cy1

double	m_cy2

double	m_time

double	m_time_trans

TireStates	m_states

std::shared_ptr< ChCylinderShape >	m_cyl_shape
	visualization cylinder asset

Protected Attributes inherited from chrono::vehicle::ChForceElementTire
ContactData	m_data
	tire-terrain collision information

TerrainForce	m_tireforce
	tire forces (in tire contact frame)

ChFunction_Recorder	m_areaDep

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

CollisionType	m_collision_type
	method used for tire-terrain collision

std::string	m_vis_mesh_file
	name of OBJ file for visualization of this tire (may be empty)

double	m_slip_angle

double	m_longitudinal_slip

double	m_camber_angle

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

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

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_TMsimpleTire.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/hmmwv/HMMWV_TMsimpleTire.cpp

Description

Public Member Functions

Additional Inherited Members