Description

Definition of the FED-alpha assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a FED-alpha, the powertrain model, and the 4 tires. It provides wrappers to access the different systems and subsystems, functions for specifying the driveline, powertrain, and tire types, as well as functions for controlling the visualization mode of each component.

#include <FEDA.h>

Collaboration diagram for chrono::vehicle::feda::FEDA:

Public Types

enum  DamperMode { FSD, PASSIVE_LOW, PASSIVE_HIGH }
 

Public Member Functions

 FEDA (ChSystem *system)
 
void SetContactMethod (ChContactMethod val)
 
void SetChassisFixed (bool val)
 
void SetChassisCollisionType (CollisionType val)
 
void SetBrakeType (BrakeType brake_type)
 
void SetPowertrainType (PowertrainModelType val)
 
void SetTireType (TireModelType val)
 
void SetTireCollisionType (ChTire::CollisionType collType)
 
void SetTirePressureLevel (unsigned int pressure_level=2)
 
void SetInitPosition (const ChCoordsys<> &pos)
 
void SetInitFwdVel (double fwdVel)
 
void SetInitWheelAngVel (const std::vector< double > &omega)
 
void SetTireStepSize (double step_size)
 
void SetRideHeight_Low ()
 
void SetRideHeight_OnRoad ()
 
void SetRideHeight_ObstacleCrossing ()
 
void SetDamperMode (DamperMode theDamperMode=DamperMode::FSD)
 
ChSystemGetSystem () const
 
ChWheeledVehicleGetVehicle () const
 
std::shared_ptr< ChChassisGetChassis () const
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 
std::shared_ptr< ChPowertrainGetPowertrain () const
 
void Initialize ()
 
void LockAxleDifferential (int axle, bool lock)
 
void SetAerodynamicDrag (double Cd, double area, double air_density)
 
void SetChassisVisualizationType (VisualizationType vis)
 
void SetSuspensionVisualizationType (VisualizationType vis)
 
void SetSteeringVisualizationType (VisualizationType vis)
 
void SetWheelVisualizationType (VisualizationType vis)
 
void SetTireVisualizationType (VisualizationType vis)
 
void Synchronize (double time, const ChDriver::Inputs &driver_inputs, const ChTerrain &terrain)
 
void Advance (double step)
 
void LogHardpointLocations ()
 
void DebugLog (int what)
 

Protected Attributes

ChContactMethod m_contactMethod
 
CollisionType m_chassisCollisionType
 
bool m_fixed
 
TireModelType m_tireType
 
BrakeType m_brake_type
 
PowertrainModelType m_powertrain_type
 
double m_tire_step_size
 
ChCoordsys m_initPos
 
double m_initFwdVel
 
std::vector< double > m_initOmega
 
bool m_apply_drag
 
double m_Cd
 
double m_area
 
double m_air_density
 
ChSystemm_system
 
FEDA_Vehiclem_vehicle
 
double m_tire_mass
 
unsigned int m_tire_pressure_level
 
int m_ride_height_config
 
int m_damper_mode
 
ChTire::CollisionType m_tire_collision_type
 

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/feda/FEDA.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/feda/FEDA.cpp