Description

Pacjeka 89 tire model.

#include <ChPac89Tire.h>

Inheritance diagram for chrono::vehicle::ChPac89Tire:

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Collaboration diagram for chrono::vehicle::ChPac89Tire:

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Public Member Functions
	ChPac89Tire (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual double	GetRadius () const override
	Get the tire radius.

void	SetGammaLimit (double gamma_limit)
	Set the limit for camber angle (in degrees). Default: 3 degrees.

virtual double	GetWidth () const override
	Get the width of the tire.

virtual double	GetDeflection () const override
	Get the tire deflection.

virtual double	GetVisualizationWidth () const override
	Get visualization width.

double	GetSlipAngle_internal () const
	Get the slip angle used in Pac89 (expressed in radians). More...

double	GetLongitudinalSlip_internal () const
	Get the longitudinal slip used in Pac89. More...

double	GetCamberAngle_internal ()
	Get the camber angle used in Pac89 (expressed in radians). More...

Public Member Functions inherited from chrono::vehicle::ChForceElementTire
virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual TerrainForce	ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Report the tire forces expressed in the tire frame. More...

const ContactData &	ReportTireContactData () const
	Report current tire-terrain contact information. More...

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the value of the integration step size for the underlying dynamics (if applicable). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction. More...

void	SetPressure (double pressure)
	Set the internal tire pressure [Pa]. More...

double	GetPressure () const
	Get the internal tire pressure [Pa].

virtual double	GetTireMass () const =0
	Return the tire mass.

virtual ChVector	GetTireInertia () const =0
	Return the tire moments of inertia (in the tire centroidal frame).

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. 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.

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.

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.

Protected Member Functions
virtual void	SetPac89Params ()=0
	Set the parameters in the Pac89 model.

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, const ChTerrain &terrain) override
	Update the state of this tire system at the current time. More...

virtual void	Advance (double step) override
	Advance the state of this tire by the specified time step.

Protected Member Functions inherited from chrono::vehicle::ChForceElementTire
	ChForceElementTire (const std::string &name)
	Construct a tire with the specified name.

virtual double	GetNormalStiffnessForce (double depth) const =0
	Return the vertical tire stiffness contribution to the normal force.

virtual double	GetNormalDampingForce (double depth, double velocity) const =0
	Return the vertical tire damping contribution to the normal force.

virtual TerrainForce	GetTireForce () const override
	Get the tire force and moment. More...

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

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

Protected Member Functions inherited from chrono::vehicle::ChTire
	ChTire (const std::string &name)
	Construct a tire subsystem with given name.

void	CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChVisualShapeTriangleMesh >	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...

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...

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
double	m_kappa
	longitudinal slip (percentage)

double	m_alpha
	slip angle (degrees)

double	m_gamma
	camber angle (degrees)

double	m_gamma_limit
	limit camber angle (degrees)

double	m_mu
	Road friction.

double	m_mu0
	Tire reference friction.

double	m_unloaded_radius
	Pac89 tire model parameters.

double	m_width

double	m_rolling_resistance

double	m_lateral_stiffness

VehicleSide	m_measured_side

PacCoeff	m_PacCoeff

TireStates	m_states

Protected Attributes inherited from chrono::vehicle::ChForceElementTire
ContactData	m_data
	tire-terrain collision information

TerrainForce	m_tireforce
	tire forces (in tire contact frame)

ChFunction_Recorder	m_areaDep
	lookup table for estimation of penetration depth from intersection area

std::shared_ptr< ChVisualShape >	m_cyl_shape
	visualization cylinder asset

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

double	m_pressure
	internal tire pressure

CollisionType	m_collision_type
	method used for tire-terrain collision

std::string	m_vis_mesh_file
	name of OBJ file for visualization of this tire (may be empty)

double	m_slip_angle

double	m_longitudinal_slip

double	m_camber_angle

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
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }

Static Public Member Functions inherited from chrono::vehicle::ChTire
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...

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...

Static Protected Member Functions inherited from chrono::vehicle::ChTire
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...

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...

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...

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...

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...

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 Function Documentation

◆ GetCamberAngle_internal()

double chrono::vehicle::ChPac89Tire::GetCamberAngle_internal ( )

inline

Get the camber angle used in Pac89 (expressed in radians).

The reported value will be similar to that reported by ChTire::GetCamberAngle.

◆ GetLongitudinalSlip_internal()

double chrono::vehicle::ChPac89Tire::GetLongitudinalSlip_internal ( ) const

inline

Get the longitudinal slip used in Pac89.

The reported value will be similar to that reported by ChTire::GetLongitudinalSlip.

◆ GetSlipAngle_internal()

double chrono::vehicle::ChPac89Tire::GetSlipAngle_internal ( ) const

inline

Get the slip angle used in Pac89 (expressed in radians).

The reported value will have opposite sign to that reported by ChTire::GetSlipAngle because ChPac89 uses internally a different frame convention.

◆ Synchronize()

void chrono::vehicle::ChPac89Tire::Synchronize	(	double	time,
		const ChTerrain &	terrain
	)

overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters

[in]	time	current time
[in]	terrain	reference to the terrain system

Reimplemented from chrono::vehicle::ChTire.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChPac89Tire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChPac89Tire.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ GetCamberAngle_internal()

◆ GetLongitudinalSlip_internal()

◆ GetSlipAngle_internal()

◆ Synchronize()