Description

Base class for the chassis vehicle subsystem.

ChChassis is the base class for a main vehicle chassis (a single chassis or a front chassis).

#include <ChChassis.h>

Inheritance diagram for chrono::vehicle::ChChassis:
Collaboration diagram for chrono::vehicle::ChChassis:

Classes

class  ExternalForce
 Base class for a user-defined custom force acting on the chassis body. More...
 

Public Member Functions

 ChChassis (const std::string &name, bool fixed=false)
 Construct a chassis subsystem with the specified name. More...
 
virtual ChCoordsys GetLocalDriverCoordsys () const =0
 Get the local driver position and orientation. More...
 
virtual const ChVector GetLocalPosRearConnector () const
 Get the location (in the local frame of this chassis) of the connection to a rear chassis.
 
std::shared_ptr< ChBodyAuxRefGetBody () const
 Get a handle to the vehicle's chassis body.
 
ChSystemGetSystem () const
 Get a pointer to the containing system.
 
const ChVectorGetPos () const
 Get the global location of the chassis reference frame origin.
 
ChQuaternion GetRot () const
 Get the orientation of the chassis reference frame. More...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
double GetSpeed () const
 Get the vehicle speed. More...
 
double GetCOMSpeed () const
 Get the speed of the chassis COM. More...
 
ChVector GetPointLocation (const ChVector<> &locpos) const
 Get the global position of the specified point. More...
 
ChVector GetPointVelocity (const ChVector<> &locpos) const
 Get the global velocity of the specified point. More...
 
ChVector GetPointAcceleration (const ChVector<> &locpos) const
 Get the acceleration at the specified point. More...
 
virtual void Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0)
 Initialize the chassis at the specified global position and orientation. More...
 
virtual void SetCollide (bool state)=0
 Enable/disable contact for the chassis. More...
 
void SetFixed (bool val)
 Set the "fixed to ground" status of the chassis body.
 
bool IsFixed () const
 Return true if the chassis body is fixed to ground.
 
bool HasBushings () const
 Return true if the vehicle model contains bushings.
 
void AddMarker (const std::string &name, const ChCoordsys<> &pos)
 Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...
 
const std::vector< std::shared_ptr< ChMarker > > & GetMarkers () const
 
void SetAerodynamicDrag (double Cd, double area, double air_density)
 Set parameters and enable aerodynamic drag force calculation. More...
 
virtual void Synchronize (double time)
 Update the state of the chassis subsystem. More...
 
void AddJoint (std::shared_ptr< ChVehicleJoint > joint)
 Utility function to add a joint (kinematic or bushing) to the vehicle system.
 
void AddExternalForce (std::shared_ptr< ExternalForce > force)
 Utility force to add an external load to the chassis body.
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () 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 AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from 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 (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Static Public Member Functions

static void RemoveJoint (std::shared_ptr< ChVehicleJoint > joint)
 Utility function to remove a joint (kinematic or bushing) from the vehicle system.
 
- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 

Protected Member Functions

virtual double GetBodyMass () const =0
 
virtual ChFrame GetBodyCOMFrame () const =0
 
virtual ChMatrix33 GetBodyInertia () const =0
 
- 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 (ChVector<> &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...
 

Protected Attributes

std::shared_ptr< ChBodyAuxRefm_body
 handle to the chassis body
 
std::shared_ptr< ChLoadContainerm_bushings
 load container for vehicle bushings
 
std::shared_ptr< ChLoadContainerm_container_forces
 load container for external forces
 
std::vector< std::shared_ptr< ExternalForce > > m_forces
 external forces
 
std::vector< std::shared_ptr< ChMarker > > m_markers
 list of user-defined markers
 
bool m_fixed
 is the chassis body fixed to ground?
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
std::shared_ptr< ChPartm_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 Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
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).
 

Constructor & Destructor Documentation

◆ ChChassis()

chrono::vehicle::ChChassis::ChChassis ( const std::string &  name,
bool  fixed = false 
)

Construct a chassis subsystem with the specified name.

Parameters
[in]namename of the subsystem
[in]fixedis the chassis body fixed to ground?

Member Function Documentation

◆ AddMarker()

void chrono::vehicle::ChChassis::AddMarker ( const std::string &  name,
const ChCoordsys<> &  pos 
)

Add a marker on the chassis body at the specified position (relative to the chassis reference frame).

If called before initialization, this function has no effect.

Parameters
[in]namemarker name
[in]posmarker position relative to chassis reference frame

◆ GetCOMSpeed()

double chrono::vehicle::ChChassis::GetCOMSpeed ( ) const
inline

Get the speed of the chassis COM.

Return the speed measured at the chassis center of mass.

◆ GetLocalDriverCoordsys()

◆ GetPointAcceleration()

ChVector chrono::vehicle::ChChassis::GetPointAcceleration ( const ChVector<> &  locpos) const

Get the acceleration at the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

◆ GetPointLocation()

ChVector chrono::vehicle::ChChassis::GetPointLocation ( const ChVector<> &  locpos) const

Get the global position of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned location is expressed in the global reference frame.

◆ GetPointVelocity()

ChVector chrono::vehicle::ChChassis::GetPointVelocity ( const ChVector<> &  locpos) const

Get the global velocity of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned velocity is expressed in the global reference frame.

◆ GetRot()

ChQuaternion chrono::vehicle::ChChassis::GetRot ( ) const

Get the orientation of the chassis reference frame.

Returns a rotation with respect to the global reference frame.

◆ GetSpeed()

double chrono::vehicle::ChChassis::GetSpeed ( ) const
inline

Get the vehicle speed.

Return the speed measured at the origin of the chassis reference frame.

◆ Initialize()

void chrono::vehicle::ChChassis::Initialize ( ChSystem system,
const ChCoordsys<> &  chassisPos,
double  chassisFwdVel,
int  collision_family = 0 
)
virtual

Initialize the chassis at the specified global position and orientation.

The initial position and forward velocity are assumed to be given in the current world frame.

Parameters
[in]systemcontaining system
[in]chassisPosabsolute chassis position
[in]chassisFwdVelinitial chassis forward velocity
[in]collision_familychassis collision family

Reimplemented in chrono::vehicle::ChRigidChassis.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChChassis::InitializeInertiaProperties ( )
overridevirtual

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.

◆ SetAerodynamicDrag()

void chrono::vehicle::ChChassis::SetAerodynamicDrag ( double  Cd,
double  area,
double  air_density 
)

Set parameters and enable aerodynamic drag force calculation.

By default, aerodynamic drag force calculation is disabled.

Parameters
[in]Cddrag coefficient
[in]areareference area
[in]air_densityair density

◆ SetCollide()

virtual void chrono::vehicle::ChChassis::SetCollide ( bool  state)
pure virtual

Enable/disable contact for the chassis.

This function controls contact of the chassis with all other collision shapes in the simulation.

Implemented in chrono::vehicle::ChRigidChassisRear, and chrono::vehicle::ChRigidChassis.

◆ Synchronize()

void chrono::vehicle::ChChassis::Synchronize ( double  time)
virtual

Update the state of the chassis subsystem.

The base class implementation applies all defined external forces to the chassis body.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChChassis::UpdateInertiaProperties ( )
overridevirtual

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/ChChassis.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.cpp