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 ChWheelListGetWheels () const
 Get all wheels from this axle. More...
 
std::shared_ptr< ChWheelGetWheel (VehicleSide side, WheelLocation location=SINGLE) const
 Get the specified wheel of this axle.
 
std::shared_ptr< ChBrakeGetBrake (VehicleSide side) const
 Get the sdpecified brake of this axle.
 

Public Attributes

std::shared_ptr< ChSuspensionm_suspension
 
std::shared_ptr< ChBrakem_brake_left
 
std::shared_ptr< ChBrakem_brake_right
 
std::shared_ptr< ChAntirollBarm_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
chassisassociated chassis subsystem
subchassisassociated subchassis subsystem (may be null)
steeringassociated steering subsystem (may be null)
susp_locationsuspension location relative to the chassis frame
arb_locationantirollbar location relative to chassis frame
wheel_separationdistance between wheel centers on one side
left_ang_velinitial angular velocity of left wheel
right_ang_velinitial angular velocity of right wheel

◆ Synchronize()

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

Synchronize this axle subsystem.

Parameters
[in]timecurrent time
[in]driver_inputscurrent 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