Description

Base class for a suspension subsystem.

#include <ChAxle.h>

Public Member Functions
void	SetOutput (bool state)
	Enable/disable output for this subsystem.

void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector3d &susp_location, const ChVector3d &arb_location, double wheel_separation=0, double left_ang_vel=0, double right_ang_vel=0)
	Initialize this axle subsystem, by initializing its components. More...

void	Synchronize (double time, const DriverInputs &driver_inputs)
	Synchronize this axle subsystem. More...

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

const ChWheelList &	GetWheels () const
	Get all wheels from this axle. More...

std::shared_ptr< ChWheel >	GetWheel (VehicleSide side, WheelLocation location=SINGLE) const
	Get the specified wheel of this axle.

std::shared_ptr< ChBrake >	GetBrake (VehicleSide side) const
	Get the sdpecified brake of this axle.

Public Attributes
std::shared_ptr< ChSuspension >	m_suspension

std::shared_ptr< ChBrake >	m_brake_left

std::shared_ptr< ChBrake >	m_brake_right

std::shared_ptr< ChAntirollBar >	m_antirollbar

ChWheelList	m_wheels

Member Function Documentation

◆ GetWheels()

const ChWheelList& chrono::vehicle::ChAxle::GetWheels ( ) const

inline

Get all wheels from this axle.

The wheels associated with an axle are assumed to be ordered from inner to outer wheels, first left then right. In other words, for a single-wheel axle the order is left wheel, right wheel. For a double-wheel axle, the order is inner left, inner right, outer left, outer right.

◆ Initialize()

void chrono::vehicle::ChAxle::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChSubchassis >	subchassis,
		std::shared_ptr< ChSteering >	steering,
		const ChVector3d &	susp_location,
		const ChVector3d &	arb_location,
		double	wheel_separation = `0`,
		double	left_ang_vel = `0`,
		double	right_ang_vel = `0`
	)

Initialize this axle subsystem, by initializing its components.

The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. If a steering subsystem is provided, the suspension tierods are to be attached to the steering's central link body (steered suspension); otherwise they are to be attached to the chassis (non-steered suspension). 'wheel_separation' is the distance between wheel centers on one side of the axle (if using double wheels). The default value of 0 indicates the common case of a single wheel per side.

Parameters

chassis	associated chassis subsystem
subchassis	associated subchassis subsystem (may be null)
steering	associated steering subsystem (may be null)
susp_location	suspension location relative to the chassis frame
arb_location	antirollbar location relative to chassis frame
wheel_separation	distance between wheel centers on one side
left_ang_vel	initial angular velocity of left wheel
right_ang_vel	initial angular velocity of right wheel

◆ Synchronize()

void chrono::vehicle::ChAxle::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs
	)

Synchronize this axle subsystem.

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChAxle.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChAxle.cpp

Description

Public Member Functions

Public Attributes

Member Function Documentation

◆ GetWheels()

◆ Initialize()

◆ Synchronize()