Description

ANCF tire template.

This tire is modeled as a mesh composed of ANCF shell elements.

#include <ChANCFTire.h>

Inheritance diagram for chrono::vehicle::ChANCFTire:

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Collaboration diagram for chrono::vehicle::ChANCFTire:

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Classes
struct	Profile
	Tire profile. More...

struct	Section
	Tire section. More...

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

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

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

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

virtual ChVector3d	GetTireInertia () const override final
	Return the tire moments of inertia (in the tire centroidal frame).

std::shared_ptr< ChContactMaterialSMC >	GetContactMaterial () const
	Get the tire contact material. More...

void	EnablePressure (bool val)
	Enable/disable tire pressure (default: true).

bool	IsPressureEnabled () const

void	EnableContact (bool val)
	Enable/disable tire contact (default: true).

bool	IsContactEnabled () const

void	EnableRimConnection (bool val)
	Enable/disable tire-rim connection (default: true).

bool	IsRimConnectionEnabled () const

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shape)
	Attach an FEA visual shape for run-time visualization.

std::shared_ptr< fea::ChMesh >	GetMesh () const
	Get the underlying FEA mesh.

std::shared_ptr< fea::ChContactSurface >	GetContactSurface () const
	Get the mesh contact surface. More...

std::shared_ptr< ChLoadContainer >	GetLoadContainer () const
	Get the load container associated with this tire.

virtual double	GetRimRadius () const =0
	Get the rim radius (inner tire radius). / TODO: consider removing.

virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual TerrainForce	ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Get the tire force and moment expressed in the tire frame. More...

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

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

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the integration step size for the underlying dynamics (default: 1ms). 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 (default: SINGLE_POINT). More...

void	SetContactSurfaceType (ContactSurfaceType type, double dim=0.01, int collision_family=13)
	Set the contact surface type (default: NODE_CLOUD). More...

void	SetPressure (double pressure)
	Set the internal tire pressure [Pa] (default: 0). More...

double	GetPressure () const
	Get the internal tire pressure [Pa].

virtual double	GetRadius () const =0
	Get the tire radius.

virtual double	GetWidth () const =0
	Get the tire width.

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...

virtual double	GetDeflection () const
	Report the tire deflection.

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

std::shared_ptr< ChWheel >	GetWheel () const
	Get the associated wheel. More...

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

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

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	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.

Protected Member Functions
virtual void	CreatePressureLoad () override final
	Create the ChLoad for applying pressure to the tire.

virtual void	CreateContactSurface () override final
	Create the contact surface for the tire mesh.

virtual void	CreateRimConnections (std::shared_ptr< ChBody > wheel) override final
	Create the tire-rim connections.

Protected Member Functions inherited from chrono::vehicle::ChDeformableTire
virtual double	GetDefaultPressure () const =0
	Return the default tire pressure.

virtual std::vector< std::shared_ptr< fea::ChNodeFEAbase > >	GetConnectedNodes () const =0
	Return list of nodes connected to the rim. / TODO Consider moving down to derived classes (CHANCFTire, CHReissnerTire, etc)

virtual void	CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side)=0
	Create the FEA nodes and elements. More...

virtual void	CreateContactMaterial ()=0
	Create the SMC contact material.

virtual double	GetAddedMass () const override final
	Get the mass added to the associated spindle body. More...

virtual ChVector3d	GetAddedInertia () const override final
	Get the inertia added to the associated spindle body. More...

virtual void	InitializeInertiaProperties () override
	Return the tire mass.

virtual void	UpdateInertiaProperties () override
	Return the tire moments of inertia (in the tire centroidal frame).

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

virtual TerrainForce	GetTireForce () const override final
	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< ChVisualShapeTriangleMesh >	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 (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
static std::vector< std::shared_ptr< fea::ChNodeFEAbase > >	CreateMeshANCF4 (const Profile &profile, const Section &bead, const Section &sidewall, const Section &tread, int div_circumference, double rim_radius, double damping, std::shared_ptr< fea::ChMesh > mesh, const ChFrameMoving<> &wheel_frame)
	Utility class to generate a tire mesh using 4-node ANCF shell elements (ChElementShellANCF_3423). More...

static std::vector< std::shared_ptr< fea::ChNodeFEAbase > >	CreateMeshANCF8 (const Profile &profile, const Section &bead, const Section &sidewall, const Section &tread, int div_circumference, double rim_radius, double damping, std::shared_ptr< fea::ChMesh > mesh, const ChFrameMoving<> &wheel_frame)
	Utility class to generate a tire mesh using 8-node ANCF shell elements (ChElementShellANCF_3833). More...

Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &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 ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &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 ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &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).

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
	Collision detection type. More...

enum	ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
	Contact surface type. More...

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector3d	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 ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
	Utility function for transforming inertia tensors between centroidal frames. More...

Protected Attributes inherited from chrono::vehicle::ChDeformableTire
std::shared_ptr< fea::ChMesh >	m_mesh
	tire mesh

std::shared_ptr< ChLoadContainer >	m_load_container
	load container (for pressure load)

std::vector< std::shared_ptr< fea::ChLinkNodeFrame > >	m_connections
	tire-wheel point connections

std::vector< std::shared_ptr< fea::ChLinkNodeSlopeFrame > >	m_connectionsD
	tire-wheel direction connections

std::vector< std::shared_ptr< ChLinkMateFix > >	m_connectionsF
	tire-wheel fix connection (point+rotation)

bool	m_connection_enabled
	enable tire connections to rim

bool	m_pressure_enabled
	enable internal tire pressure

bool	m_contact_enabled
	enable tire-terrain contact

std::shared_ptr< ChContactMaterialSMC >	m_contact_mat
	tire contact material

std::vector< std::shared_ptr< ChVisualShapeFEA > >	m_visFEA
	tire mesh FEA visual shapes

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)

double	m_pressure
	internal tire pressure

CollisionType	m_collision_type
	method used for tire-terrain collision

ContactSurfaceType	m_contact_surface_type
	type of contact surface model (node cloud or mesh)

double	m_contact_surface_dim
	contact surface dimension (node radius or mesh thickness)

int	m_collision_family
	collision family for this tire

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_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

◆ CreateMeshANCF4()

std::vector< std::shared_ptr< fea::ChNodeFEAbase > > chrono::vehicle::ChANCFTire::CreateMeshANCF4	(	const Profile &	profile,
		const Section &	bead,
		const Section &	sidewall,
		const Section &	tread,
		int	div_circumference,
		double	rim_radius,
		double	damping,
		std::shared_ptr< fea::ChMesh >	mesh,
		const ChFrameMoving<> &	wheel_frame
	)

staticprotected

Utility class to generate a tire mesh using 4-node ANCF shell elements (ChElementShellANCF_3423).

Returns a vector with the nodes that must be connected to the wheel rim.

Parameters

profile	tire profile
bead	specification of bead section
sidewall	specification of sidewall section
tread	specification of tread section
div_circumference	number of divisions along circumference
rim_radius	rim radius
damping	structural damping
mesh	containing FEA mesh
wheel_frame	associated wheel frame

◆ CreateMeshANCF8()

std::vector< std::shared_ptr< fea::ChNodeFEAbase > > chrono::vehicle::ChANCFTire::CreateMeshANCF8	(	const Profile &	profile,
		const Section &	bead,
		const Section &	sidewall,
		const Section &	tread,
		int	div_circumference,
		double	rim_radius,
		double	damping,
		std::shared_ptr< fea::ChMesh >	mesh,
		const ChFrameMoving<> &	wheel_frame
	)

staticprotected

Utility class to generate a tire mesh using 8-node ANCF shell elements (ChElementShellANCF_3833).

Returns a vector with the nodes that must be connected to the wheel rim.

Parameters

profile	tire profile
bead	specification of bead section
sidewall	specification of sidewall section
tread	specification of tread section
div_circumference	number of divisions along circumference
rim_radius	rim radius
damping	structural damping
mesh	containing FEA mesh
wheel_frame	associated wheel frame

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChANCFTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChANCFTire.cpp

Description

Classes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ CreateMeshANCF4()

◆ CreateMeshANCF8()