chrono::vehicle::ChSuspensionTestRigPushrod Class Reference

Description

Definition of a suspension test rig with direct actuation on the spindle bodies.

#include <ChSuspensionTestRig.h>

Inheritance diagram for chrono::vehicle::ChSuspensionTestRigPushrod:
Collaboration diagram for chrono::vehicle::ChSuspensionTestRigPushrod:

Public Member Functions

 ChSuspensionTestRigPushrod (std::shared_ptr< ChWheeledVehicle > vehicle, std::vector< int > axle_index, double displ_limit)
 Construct a test rig for specified sets of axles and sterring mechanisms of a given vehicle. More...
 
 ChSuspensionTestRigPushrod (const std::string &spec_filename)
 Construct a test rig from the given JSON specification file. More...
 
virtual double GetActuatorDisp (int axle, VehicleSide side) override
 Return the current post displacement for the specified axle and vehicle side.
 
virtual double GetActuatorForce (int axle, VehicleSide side) override
 Return the current post actuation force for the specified axle and vehicle side. / TODO: not yet implemented.
 
virtual double GetRideHeight (int axle) const override
 Get current ride height (relative to the chassis reference frame). More...
 
- Public Member Functions inherited from chrono::vehicle::ChSuspensionTestRig
virtual ~ChSuspensionTestRig ()
 Destructor.
 
void SetDriver (std::shared_ptr< ChSuspensionTestRigDriver > driver)
 Set driver system.
 
void SetInitialRideHeight (double height)
 Set the initial ride height (relative to the chassis reference frame). More...
 
void SetDisplacementLimit (double limit)
 Set the limits for post displacement (same for jounce and rebound).
 
void IncludeSteeringMechanism (int index)
 Include the specified steering mechanism in testing.
 
void IncludeSubchassis (int index)
 Include the specified subchassis in testing.
 
void SetSuspensionVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystem (default: PRIMITIVES).
 
void SetSteeringVisualizationType (VisualizationType vis)
 Set visualization type for the steering subsystems (default: PRIMITIVES).
 
void SetSubchassisVisualizationType (VisualizationType vis)
 Set visualization type for the subchassis subsystems (default: PRIMITIVES).
 
void SetWheelVisualizationType (VisualizationType vis)
 Set visualization type for the wheel subsystems (default: NONE).
 
void SetTireVisualizationType (VisualizationType vis)
 Set visualization type for the tire subsystems (default: PRIMITIVES).
 
void Initialize ()
 Initialize the suspension test rig. More...
 
void Advance (double step)
 Advance the state of the suspension test rig by the specified time step.
 
ChWheeledVehicleGetVehicle () const
 Get a handle to the underlying vehicle system.
 
const ChVectorGetSpindlePos (int axle, VehicleSide side) const
 Get the global location of the specified spindle. More...
 
ChQuaternion GetSpindleRot (int axle, VehicleSide side) const
 Get the global rotation of the specified spindle. More...
 
const ChVectorGetSpindleLinVel (int axle, VehicleSide side) const
 Get the linear velocity of the specified spindle (expressed in the global reference frame). More...
 
ChVector GetSpindleAngVel (int axle, VehicleSide side) const
 Get the angular velocity of the specified spindle (expressed in the global reference frame). More...
 
double GetSteeringInput () const
 Return current driver steering input.
 
double GetWheelTravel (int axle, VehicleSide side) const
 Get wheel travel, defined here as the vertical displacement of the spindle center from its position at the initial specified ride height (or initial configuration, if an initial ride height is not specified). More...
 
std::string GetDriverMessage () const
 Return the info message from the STR driver.
 
bool DriverEnded () const
 Return true when driver stopped producing inputs.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
void SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
 Enable output for this vehicle system (default: false). More...
 
void SetPlotOutput (double output_step)
 Enable data collection for plot generation (default: false). More...
 
void PlotOutput (const std::string &out_dir, const std::string &out_name)
 Plot collected data. More...
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::vehicle::ChSuspensionTestRig
 ChSuspensionTestRig (std::shared_ptr< ChWheeledVehicle > vehicle, std::vector< int > axle_index, double displ_limit)
 Construct a test rig for specified sets of axles and sterring mechanisms of a given vehicle. More...
 
 ChSuspensionTestRig (const std::string &spec_filename)
 Construct a test rig from the given JSON specification file. More...
 
void CollectPlotData (double time)
 Collect data for plot output.
 
- Protected Attributes inherited from chrono::vehicle::ChSuspensionTestRig
std::shared_ptr< ChWheeledVehiclem_vehicle
 associated vehicle
 
int m_naxles
 number of tested axles
 
std::vector< int > m_axle_index
 list of tested vehicle axles in rig
 
std::vector< int > m_steering_index
 list of tested vehicle steering mechanisms in rig
 
std::vector< int > m_subchassis_index
 list of tested vehicle subchassis mechanisms in rig
 
double m_ride_height
 ride height
 
double m_displ_limit
 scale factor for post displacement
 
std::vector< double > m_displ_offset
 post displacement offsets (to set reference positions)
 

Constructor & Destructor Documentation

◆ ChSuspensionTestRigPushrod() [1/2]

chrono::vehicle::ChSuspensionTestRigPushrod::ChSuspensionTestRigPushrod ( std::shared_ptr< ChWheeledVehicle vehicle,
std::vector< int >  axle_index,
double  displ_limit 
)

Construct a test rig for specified sets of axles and sterring mechanisms of a given vehicle.

Parameters
vehicletest vehicle
axle_indexlist of tested vehicle axles
displ_limitdisplacement limits

◆ ChSuspensionTestRigPushrod() [2/2]

chrono::vehicle::ChSuspensionTestRigPushrod::ChSuspensionTestRigPushrod ( const std::string &  spec_filename)

Construct a test rig from the given JSON specification file.

An STR specification file includes the JSON specification for the underlying vehicle, the sets of tested vehicle subsystems, and the displacement limit for the rig posts.

Member Function Documentation

◆ GetRideHeight()

double chrono::vehicle::ChSuspensionTestRigPushrod::GetRideHeight ( int  axle) const
overridevirtual

Get current ride height (relative to the chassis reference frame).

This estimate uses the average of the left and right posts. Note: 'axle' is the index in the set of tested axles.

Implements chrono::vehicle::ChSuspensionTestRig.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChSuspensionTestRig.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChSuspensionTestRig.cpp