Description

Template for a balancer subchassis system.

#include <ChBalancer.h>

Inheritance diagram for chrono::vehicle::ChBalancer:

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Collaboration diagram for chrono::vehicle::ChBalancer:

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Public Member Functions
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) override
	Initialize this subchassis subsystem. More...

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

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

Public Member Functions inherited from chrono::vehicle::ChSubchassis
const ChVector3d &	GetLocation () const
	Get the location of the subchassis relative to the chassis reference frame. More...

std::shared_ptr< ChBody >	GetBeam (VehicleSide side) const
	Get a handle to the beam body on the specified side.

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.

Protected Types
enum	PointId { BEAM, REVOLUTE, NUM_POINTS }
	Identifiers for the various hardpoints. More...

Protected Member Functions
	ChBalancer (const std::string &name)

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

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

virtual const ChVector3d	GetLocation (PointId which)=0
	Return the location of the specified hardpoint. More...

virtual const ChVector3d	GetDirection ()
	Return the direction of the pin joint (default: Y axis).

virtual double	GetBalancerBeamMass () const =0
	Get the balancer mass.

virtual const ChVector3d &	GetBalancerBeamInertia () const =0
	Get the inertia tensor of the chassis body.

virtual const double	GetBalancerMaxPitch () const =0
	Get the rear balancer min/max pitch. More...

virtual const ChVector3d &	GetBalancerBeamDimensions () const =0
	Get balancer dimensions (for visualization).

virtual std::shared_ptr< ChVehicleBushingData >	GetBushingData () const
	Return stiffness and damping data for the balancer bushing. More...

Protected Member Functions inherited from chrono::vehicle::ChSubchassis
	ChSubchassis (const std::string &name)
	Construct a subchassis 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.

Protected Attributes
std::shared_ptr< ChVehicleJoint >	m_balancer_joint [2]
	balancer pivot joints

Protected Attributes inherited from chrono::vehicle::ChSubchassis
ChVector3d	m_rel_loc
	location relative to chassis

std::shared_ptr< ChBody >	m_beam [2]
	handles to beam bodies

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

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...

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).

Member Enumeration Documentation

◆ PointId

enum chrono::vehicle::ChBalancer::PointId

protected

Identifiers for the various hardpoints.

Enumerator
BEAM	beam location
REVOLUTE	location of revolute joint

Member Function Documentation

◆ GetBalancerMaxPitch()

virtual const double chrono::vehicle::ChBalancer::GetBalancerMaxPitch ( ) const

protectedpure virtual

Get the rear balancer min/max pitch.

Used only if using a kinematic joint.

Implemented in chrono::vehicle::Balancer, and chrono::vehicle::fmtv::MTV_Balancer.

◆ GetBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::ChBalancer::GetBushingData ( ) const

inlineprotectedvirtual

Return stiffness and damping data for the balancer bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

Reimplemented in chrono::vehicle::Balancer.

◆ GetLocation()

virtual const ChVector3d chrono::vehicle::ChBalancer::GetLocation ( PointId which )

protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the subchassis reference frame.

Implemented in chrono::vehicle::fmtv::MTV_Balancer.

◆ Initialize()

void chrono::vehicle::ChBalancer::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector3d &	location
	)

overridevirtual

Initialize this subchassis subsystem.

The subchassis is initialized by attaching it to the specified chassis at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the subchassis reference frame is always aligned with the chassis reference frame.

Parameters

[in]	chassis	chassis
[in]	location	location relative to the chassis frame

Reimplemented from chrono::vehicle::ChSubchassis.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChBalancer::InitializeInertiaProperties ( )

overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChBalancer::UpdateInertiaProperties ( )

overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/subchassis/ChBalancer.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/subchassis/ChBalancer.cpp

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members