Description

Rack-pinion steering subsystem for the Sedan vehicle.

#include <Sedan_RackPinion.h>

Inheritance diagram for chrono::vehicle::sedan::Sedan_RackPinion:

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Collaboration diagram for chrono::vehicle::sedan::Sedan_RackPinion:

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

virtual double	GetSteeringLinkMass () const override
	Return the mass of the steering link.

virtual ChVector3d	GetSteeringLinkInertia () const override
	Return the moments of inertia of the steering link.

virtual double	GetSteeringLinkCOM () const override
	Return the steering link COM offset in Y direction (positive to the left).

virtual double	GetSteeringLinkRadius () const override
	Return the radius of the steering link (visualization only).

virtual double	GetSteeringLinkLength () const override
	Return the length of the steering link (visualization only).

virtual double	GetPinionRadius () const override
	Return the radius of the pinion.

virtual double	GetMaxAngle () const override
	Return the maximum rotation angle of the pinion (in either direction).

Public Member Functions inherited from chrono::vehicle::ChRackPinion
	ChRackPinion (const std::string &name)
	Construct a rack-pinion steering mechanism with given base name. More...

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, const ChQuaternion<> &rotation) override
	Initialize this steering subsystem. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the steering subsystem. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the steering subsystem.

virtual void	Synchronize (double time, const DriverInputs &driver_inputs) override
	Update the state of this steering subsystem at the current time. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChSteering
const ChFrame &	GetRelTransform () const
	Get the frame of the steering subsystem relative to the associated chassis reference frame.

std::shared_ptr< ChBody >	GetSteeringLink () const
	Get a handle to the main link of the steering subsystems. 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.

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::ChRackPinion
virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const override
	Output data for this subsystem's component list to the specified database.

Protected Member Functions inherited from chrono::vehicle::ChSteering
	ChSteering (const std::string &name)
	Construct a steering 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::ChRackPinion
std::shared_ptr< ChLinkLockPrismatic >	m_prismatic
	handle to the prismatic joint chassis-link

std::shared_ptr< ChLinkLockLinActuator >	m_actuator
	handle to the linear actuator on steering link

Protected Attributes inherited from chrono::vehicle::ChSteering
ChFrame	m_rel_xform
	location and orientation relative to associated chassis

std::shared_ptr< ChBody >	m_link
	handle to the main steering link

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

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/sedan/Sedan_RackPinion.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/sedan/Sedan_RackPinion.cpp

Description

Public Member Functions

Additional Inherited Members