Description

Definition of a suspension test rig.

#include <ChTrackTestRig.h>

Inheritance diagram for chrono::vehicle::ChTrackTestRig:
Collaboration diagram for chrono::vehicle::ChTrackTestRig:

Public Member Functions

 ChTrackTestRig ()
 Default constructor.
 
 ChTrackTestRig (const std::string &filename, bool create_track=true, ChContactMethod contact_method=ChContactMethod::NSC, bool detracking_control=false)
 Construct a test rig from specified track assembly JSON file. More...
 
 ChTrackTestRig (std::shared_ptr< ChTrackAssembly > assembly, bool create_track=true, ChContactMethod contact_method=ChContactMethod::NSC, bool detracking_control=false)
 Construct a test rig using the specified track assembly and subsystem locations. More...
 
 ~ChTrackTestRig ()
 Destructor.
 
void SetDriver (std::shared_ptr< ChDriverTTR > driver)
 Set driver system.
 
void SetInitialRideHeight (double height)
 Set the initial ride height (relative to the sprocket reference frame). More...
 
void SetDisplacementLimit (double limit)
 Set the limits for post displacement (same for jounce and rebound). More...
 
void SetDisplacementDelay (double delay)
 Set time delay before applying post displacement. More...
 
void SetMaxTorque (double val)
 Set maximum sprocket torque.
 
void SetSprocketVisualizationType (VisualizationType vis)
 Set visualization type for the sprocket subsystem (default: PRIMITIVES).
 
void SetIdlerVisualizationType (VisualizationType vis)
 Set visualization type for the idler subsystem (default: PRIMITIVES).
 
void SetRoadWheelAssemblyVisualizationType (VisualizationType vis)
 Set visualization type for the road-wheel assembly subsystem (default: PRIMITIVES).
 
void SetRoadWheelVisualizationType (VisualizationType vis)
 Set visualization type for the road-wheel subsystem (default: PRIMITIVES).
 
void SetTrackShoeVisualizationType (VisualizationType vis)
 Set visualization type for the track shoe subsystems (default: PRIMITIVES).
 
void SetDriverLogFilename (const std::string &filename)
 Set filename for optional driver log.
 
void SetTrackAssemblyOutput (bool state)
 Enable/disable output for the track assembly. More...
 
void Initialize ()
 Initialize this track test rig.
 
virtual void Advance (double step) override
 Advance the state of the track test rig by the specified time step.
 
void SetCollide (int flags)
 Set collision flags for the various subsystems. More...
 
void SetPostCollide (bool flag)
 Enable/disable collision for the rig posts (default: true).
 
void MonitorContacts (int flags)
 Set contacts to be monitored. More...
 
void SetRenderContactNormals (bool val)
 Render normals of all monitored contacts.
 
void SetRenderContactForces (bool val, double scale)
 Render forces of all monitored contacts.
 
void SetContactCollection (bool val)
 Turn on/off contact data collection. More...
 
bool IsPartInContact (TrackedCollisionFlag::Enum part) const
 Return true if the specified vehicle part is currently experiencing a collision.
 
ChVector GetSprocketResistiveTorque (VehicleSide side) const
 Return estimated resistive torque on the specified sprocket. More...
 
void WriteContacts (const std::string &filename)
 Write contact information to file. More...
 
double GetThrottleInput () const
 
double GetDisplacementInput (int index)
 
std::string GetDriverMessage () const
 
double GetActuatorDisp (int index)
 
double GetActuatorForce (int index)
 
double GetActuatorMarkerDist (int index)
 
double GetMass () const
 Get the rig total mass. More...
 
std::shared_ptr< ChTrackAssemblyGetTrackAssembly () const
 Get the track assembly subsystem.
 
double GetRideHeight () const
 Get current ride height (relative to the chassis reference frame). More...
 
void LogDriverInputs ()
 Log current driver inputs.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
void SetPlotOutput (double output_step)
 Enable/disable data collection for plot generation (default: false). More...
 
virtual void PlotOutput (const std::string &out_dir, const std::string &out_name)
 Plot collected data. More...
 
- Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual ~ChVehicle ()
 Destructor.
 
const std::string & GetName () const
 Get the name identifier for this vehicle.
 
void SetName (const std::string &name)
 Set the name identifier for this vehicle.
 
ChSystemGetSystem ()
 Get a pointer to the Chrono ChSystem.
 
double GetChTime () const
 Get the current simulation time of the underlying ChSystem.
 
std::shared_ptr< ChChassisGetChassis () const
 Get a handle to the vehicle's main chassis subsystem.
 
std::shared_ptr< ChChassisRearGetChassisRear (int id) const
 Get the specified specified rear chassis subsystem.
 
std::shared_ptr< ChChassisConnectorGetChassisConnector (int id) const
 Get a handle to the specified chassis connector.
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 Get a handle to the vehicle's chassis body.
 
std::shared_ptr< ChBodyAuxRefGetChassisRearBody (int id) const
 Get a handle to the specified rear chassis body.
 
virtual std::shared_ptr< ChPowertrainGetPowertrain () const
 Get the powertrain attached to this vehicle.
 
double GetMass () const
 Get the vehicle total mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current vehicle inertia (relative to the vehicle COM frame).
 
const ChFrameGetTransform () const
 Get the current vehicle transform relative to the global frame. More...
 
const ChVectorGetPos () const
 Get the vehicle global location. More...
 
ChQuaternion GetRot () const
 Get the vehicle orientation. More...
 
double GetSpeed () const
 Get the vehicle speed. 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...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
void EnableRealtime (bool val)
 Enable/disable soft real-time (default: true). More...
 
double GetRTF () const
 Get current estimated RTF (real time factor). More...
 
void SetCollisionSystemType (collision::ChCollisionSystemType collsys_type)
 Change the default collision detection system. More...
 
void SetVisualSystem (std::shared_ptr< ChVehicleVisualSystem > vsys)
 Attach a vehicle visualization system.
 
std::shared_ptr< ChVehicleVisualSystem > GetVisualSystem () const
 Get the associated visualization system (if any).
 
void SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
 Enable output for this vehicle system. More...
 
void SetChassisVisualizationType (VisualizationType vis)
 Set visualization mode for the chassis subsystem.
 
void SetChassisRearVisualizationType (VisualizationType vis)
 Set visualization mode for the rear chassis subsystems.
 
void SetChassisCollide (bool state)
 Enable/disable collision for the chassis subsystem. More...
 
virtual void SetChassisVehicleCollide (bool state)
 Enable/disable collision between the chassis and all other vehicle subsystems. More...
 
void SetChassisOutput (bool state)
 Enable/disable output from the chassis subsystem.
 
bool HasBushings () const
 Return true if the vehicle model contains bushings.
 

Friends

class ChTrackTestRigVisualSystemIrrlicht
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::vehicle::ChVehicle
 ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
 Construct a vehicle system with an underlying ChSystem. More...
 
 ChVehicle (const std::string &name, ChSystem *system)
 Construct a vehicle system using the specified ChSystem. More...
 
void SetSystem (ChSystem *sys)
 Set the associated Chrono system.
 
- Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool AnyOutput (const std::vector< std::shared_ptr< T >> &list)
 Utility function for testing if any subsystem in a list generates output.
 
- Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string m_name
 vehicle name
 
ChSystemm_system
 pointer to the Chrono system
 
bool m_ownsSystem
 true if system created at construction
 
double m_mass
 total vehicle mass
 
ChFrame m_com
 current vehicle COM (relative to the vehicle reference frame)
 
ChMatrix33 m_inertia
 current total vehicle inertia (Relative to the vehicle COM frame)
 
bool m_output
 generate ouput for this vehicle system
 
ChVehicleOutputm_output_db
 vehicle output database
 
double m_output_step
 output time step
 
double m_next_output_time
 time for next output
 
int m_output_frame
 current output frame
 
std::shared_ptr< ChChassism_chassis
 handle to the main chassis subsystem
 
ChChassisRearList m_chassis_rear
 list of rear chassis subsystems (can be empty)
 
ChChassisConnectorList m_chassis_connectors
 list of chassis connector (must match m_chassis_rear)
 

Constructor & Destructor Documentation

◆ ChTrackTestRig() [1/2]

chrono::vehicle::ChTrackTestRig::ChTrackTestRig ( const std::string &  filename,
bool  create_track = true,
ChContactMethod  contact_method = ChContactMethod::NSC,
bool  detracking_control = false 
)

Construct a test rig from specified track assembly JSON file.

Parameters
[in]filenameJSON file with rig specification
[in]create_trackinclude track shoes?
[in]contact_methodcontact method
[in]detracking_controldetracking control

◆ ChTrackTestRig() [2/2]

chrono::vehicle::ChTrackTestRig::ChTrackTestRig ( std::shared_ptr< ChTrackAssembly assembly,
bool  create_track = true,
ChContactMethod  contact_method = ChContactMethod::NSC,
bool  detracking_control = false 
)

Construct a test rig using the specified track assembly and subsystem locations.

Parameters
[in]assemblyhandle to the track assembly
[in]create_trackinclude track shoes?
[in]contact_methodcontact method
[in]detracking_controldetracking control

Member Function Documentation

◆ GetMass()

double chrono::vehicle::ChTrackTestRig::GetMass ( ) const

Get the rig total mass.

This is simply the mass of the track subsystem.

◆ GetRideHeight()

double chrono::vehicle::ChTrackTestRig::GetRideHeight ( ) const

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

This estimate uses the average of the left and right posts.

◆ GetSprocketResistiveTorque()

ChVector chrono::vehicle::ChTrackTestRig::GetSprocketResistiveTorque ( VehicleSide  side) const
inline

Return estimated resistive torque on the specified sprocket.

This torque is available only if monitoring of contacts for that sprocket is enabled.

◆ MonitorContacts()

void chrono::vehicle::ChTrackTestRig::MonitorContacts ( int  flags)
inline

Set contacts to be monitored.

Contact information will be tracked for the specified subsystems.

◆ PlotOutput()

void chrono::vehicle::ChTrackTestRig::PlotOutput ( const std::string &  out_dir,
const std::string &  out_name 
)
virtual

Plot collected data.

When called (typically at the end of the simulation loop), the collected data is saved in ASCII format in a file with the specified name (and 'txt' extension) in the specified output directory. If the Chrono::Postprocess module is available (with gnuplot support), selected plots are generated.
Collected data includes:

  • [col 1] time (s)
  • [col 2-4] sprocket location (m)
  • [col 5-7] idler location (m)
  • [col 8-10] road wheel 1 location (m)
  • [col 11-13] road wheel 2 location (m)
  • ... ...

◆ SetCollide()

void chrono::vehicle::ChTrackTestRig::SetCollide ( int  flags)
inline

Set collision flags for the various subsystems.

By default, collision is enabled for sprocket, idler, road wheels, and track shoes.

◆ SetContactCollection()

void chrono::vehicle::ChTrackTestRig::SetContactCollection ( bool  val)
inline

Turn on/off contact data collection.

If enabled, contact information will be collected for all monitored subsystems.

◆ SetDisplacementDelay()

void chrono::vehicle::ChTrackTestRig::SetDisplacementDelay ( double  delay)
inline

Set time delay before applying post displacement.

Default value: 0

◆ SetDisplacementLimit()

void chrono::vehicle::ChTrackTestRig::SetDisplacementLimit ( double  limit)
inline

Set the limits for post displacement (same for jounce and rebound).

Default value: 0

◆ SetInitialRideHeight()

void chrono::vehicle::ChTrackTestRig::SetInitialRideHeight ( double  height)
inline

Set the initial ride height (relative to the sprocket reference frame).

If not specified, the reference height is the track assembly design configuration.

◆ SetPlotOutput()

void chrono::vehicle::ChTrackTestRig::SetPlotOutput ( double  output_step)

Enable/disable data collection for plot generation (default: false).

See PlotOutput details on data collected.

◆ SetTrackAssemblyOutput()

void chrono::vehicle::ChTrackTestRig::SetTrackAssemblyOutput ( bool  state)

Enable/disable output for the track assembly.

See also ChVehicle::SetOuput.

◆ WriteContacts()

void chrono::vehicle::ChTrackTestRig::WriteContacts ( const std::string &  filename)
inline

Write contact information to file.

If data collection was enabled and at least one subsystem is monitored, contact information is written (in CSV format) to the specified file.


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