chrono::vehicle::uaz::UAZBUS_RotaryArm Class Reference
Description
RotaryArm steering subsystem for the uaz vehicle.
#include <UAZBUS_RotaryArm.h>
Inheritance diagram for chrono::vehicle::uaz::UAZBUS_RotaryArm:
Collaboration diagram for chrono::vehicle::uaz::UAZBUS_RotaryArm:
Public Member Functions | |
UAZBUS_RotaryArm (const std::string &name) | |
virtual double | getPitmanArmMass () const override |
Return the mass of the Pitman arm body. | |
virtual double | getPitmanArmRadius () const override |
Return the radius of the Pitman arm body (visualization only). | |
virtual const ChVector3d & | getPitmanArmInertiaMoments () const override |
Return the moments of inertia of the Pitman arm body. | |
virtual const ChVector3d & | getPitmanArmInertiaProducts () const override |
Return the products of inertia of the Pitman arm body. | |
virtual double | getMaxAngle () const override |
Return the maximum rotation angle of the revolute joint. | |
virtual const ChVector3d | getLocation (PointId which) override |
Return the location of the specified hardpoint. More... | |
virtual const ChVector3d | getDirection (DirectionId which) override |
Return the unit vector for the specified direction. More... | |
Public Member Functions inherited from chrono::vehicle::ChRotaryArm | |
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 Types inherited from chrono::vehicle::ChRotaryArm | |
enum | PointId { ARM_L, ARM_C, NUM_POINTS } |
Identifiers for the various hardpoints. More... | |
enum | DirectionId { REV_AXIS, NUM_DIRS } |
Identifiers for the various direction unit vectors. More... | |
Protected Member Functions inherited from chrono::vehicle::ChRotaryArm | |
ChRotaryArm (const std::string &name, bool vehicle_frame_inertia=false) | |
Protected constructor. More... | |
void | SetVehicleFrameInertiaFlag (bool val) |
Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). More... | |
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::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::ChRotaryArm | |
std::shared_ptr< ChLinkMotorRotationAngle > | m_revolute |
handle to the chassis-arm revolute joint | |
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 | |
Member Function Documentation
◆ getDirection()
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overridevirtual |
Return the unit vector for the specified direction.
The returned vector must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChRotaryArm.
◆ getLocation()
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overridevirtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the suspension reference frame.
Implements chrono::vehicle::ChRotaryArm.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_RotaryArm.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/uaz/UAZBUS_RotaryArm.cpp