Description

RotaryArm-pinion steering model constructed with data from file (JSON format).

#include <RotaryArm.h>

Inheritance diagram for chrono::vehicle::RotaryArm:
Collaboration diagram for chrono::vehicle::RotaryArm:

Public Member Functions

 RotaryArm (const std::string &filename)
 
 RotaryArm (const rapidjson::Document &d)
 
virtual double getPitmanArmMass () const override
 Return the mass of the Pitman arm body.
 
virtual double getPitmanArmRadius () const override
 Return the radius of the Pitman arm body (visualization only).
 
virtual const ChVectorgetPitmanArmInertiaMoments () const override
 Return the moments of inertia of the Pitman arm body.
 
virtual const ChVectorgetPitmanArmInertiaProducts () const override
 Return the products of inertia of the Pitman arm body.
 
virtual const ChVector getLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual const ChVector getDirection (DirectionId which) override
 Return the unit vector for the specified direction. More...
 
virtual double getMaxAngle () const override
 Return the maximum rotation angle of the revolute joint.
 
- Public Member Functions inherited from chrono::vehicle::ChRotaryArm
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this steering subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the steering subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the steering subsystem.
 
virtual void Synchronize (double time, const DriverInputs &driver_inputs) override
 Update the state of this steering subsystem at the current time. More...
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChSteering
const ChFrameGetRelTransform () const
 Get the frame of the steering subsystem relative to the associated chassis reference frame.
 
std::shared_ptr< ChBodyGetSteeringLink () const
 Get a handle to the main link of the steering subsystems. 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 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 SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Additional Inherited Members

- 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 Types inherited from chrono::vehicle::ChRotaryArm
enum  PointId { ARM_L, ARM_C, NUM_POINTS }
 Identifiers for the various hardpoints. More...
 
enum  DirectionId { REV_AXIS, NUM_DIRS }
 Identifiers for the various direction unit vectors. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChRotaryArm
 ChRotaryArm (const std::string &name, bool vehicle_frame_inertia=false)
 Protected constructor. More...
 
void SetVehicleFrameInertiaFlag (bool val)
 Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). More...
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChSteering
 ChSteering (const std::string &name)
 Construct a steering subsystem with given name.
 
- 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...
 
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.
 
- 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).
 
- Protected Attributes inherited from chrono::vehicle::ChRotaryArm
std::shared_ptr< ChLinkMotorRotationAnglem_revolute
 handle to the chassis-arm revolute joint
 
- Protected Attributes inherited from chrono::vehicle::ChSteering
ChFrame m_rel_xform
 location and orientation relative to associated chassis
 
std::shared_ptr< ChBodym_link
 handle to the main steering link
 
- 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< 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
 

Member Function Documentation

◆ getDirection()

virtual const ChVector chrono::vehicle::RotaryArm::getDirection ( DirectionId  which)
inlineoverridevirtual

Return the unit vector for the specified direction.

The returned vector must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChRotaryArm.

◆ getLocation()

virtual const ChVector chrono::vehicle::RotaryArm::getLocation ( PointId  which)
inlineoverridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChRotaryArm.


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