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virtual void | SetPac89Params ()=0 |
| Set the parameters in the Pac89 model.
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virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
| Initialize this tire by associating it to the specified wheel.
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virtual void | Synchronize (double time, const ChTerrain &terrain) override |
| Update the state of this tire system at the current time. More...
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virtual void | Advance (double step) override |
| Advance the state of this tire by the specified time step.
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| ChForceElementTire (const std::string &name) |
| Construct a tire with the specified name.
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virtual double | GetNormalStiffnessForce (double depth) const =0 |
| Return the vertical tire stiffness contribution to the normal force.
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virtual double | GetNormalDampingForce (double depth, double velocity) const =0 |
| Return the vertical tire damping contribution to the normal force.
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virtual TerrainForce | GetTireForce () const override |
| Get the tire force and moment. More...
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| ChTire (const std::string &name) |
| Construct a tire subsystem with given name.
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void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
| Calculate kinematics quantities based on the given state of the associated wheel body. More...
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double | GetOffset () const |
| Get offset from spindle center. More...
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std::shared_ptr< ChTriangleMeshShape > | 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...
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| ChPart (const std::string &name) |
| Construct a vehicle subsystem with the specified name.
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void | AddMass (double &mass) |
| Add this subsystem's mass. More...
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void | AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia) |
| Add this subsystem's inertia properties. More...
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virtual void | Create (const rapidjson::Document &d) |
| Create a vehicle subsystem from JSON data. More...
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void | ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const |
| Export the list of bodies to the specified JSON document.
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void | ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const |
| Export the list of shafts to the specified JSON document.
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void | ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const |
| Export the list of joints to the specified JSON document.
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void | ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const |
| Export the list of shaft couples to the specified JSON document.
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void | ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const |
| Export the list of markers to the specified JSON document.
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void | ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const |
| Export the list of translational springs to the specified JSON document.
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void | ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const |
| Export the list of rotational springs to the specified JSON document.
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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.
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double | m_kappa |
| longitudinal slip (percentage)
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double | m_alpha |
| slip angle (degrees)
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double | m_gamma |
| camber angle (degrees)
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double | m_gamma_limit |
| limit camber angle (degrees)
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double | m_mu |
| Road friction.
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double | m_mu0 |
| Tire reference friction.
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double | m_unloaded_radius |
| Pac89 tire model parameters.
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double | m_width |
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double | m_rolling_resistance |
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double | m_lateral_stiffness |
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VehicleSide | m_measured_side |
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PacCoeff | m_PacCoeff |
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TireStates | m_states |
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std::shared_ptr< ChVisualShape > | m_cyl_shape |
| visualization cylinder asset
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ContactData | m_data |
| tire-terrain collision information
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TerrainForce | m_tireforce |
| tire forces (in tire contact frame)
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ChFunction_Recorder | m_areaDep |
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std::shared_ptr< ChWheel > | m_wheel |
| associated wheel subsystem
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double | m_stepsize |
| tire integration step size (if applicable)
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CollisionType | m_collision_type |
| method used for tire-terrain collision
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std::string | m_vis_mesh_file |
| name of OBJ file for visualization of this tire (may be empty)
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double | m_slip_angle |
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double | m_longitudinal_slip |
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double | m_camber_angle |
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std::string | m_name |
| subsystem name
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bool | m_initialized |
| specifies whether ot not the part is fully constructed
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bool | m_output |
| specifies whether or not output is generated for this subsystem
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std::shared_ptr< ChPart > | m_parent |
| parent subsystem (empty if parent is vehicle)
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double | m_mass |
| subsystem mass
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ChMatrix33 | m_inertia |
| inertia tensor (relative to subsystem COM)
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ChFrame | m_com |
| COM frame (relative to subsystem reference frame)
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ChFrame | m_xform |
| subsystem frame expressed in the global frame
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enum | CollisionType { SINGLE_POINT,
FOUR_POINTS,
ENVELOPE
} |
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static ChVector | 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...
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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...
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static bool | DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection, using the specified method. More...
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static void | ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep) |
| Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...
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static bool | DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection. More...
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static bool | DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &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...
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static bool | DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Collsion algorithm based on a paper of J. More...
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static void | RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item) |
| Erase all visual shapes from the visual model associated with the specified physics item (if any).
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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).
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