chrono::vehicle::generic::Generic_MacPhersonStrut Class Reference

Description

MacPherson strut suspension for a generic vehicle.

#include <Generic_MacPhersonStrut.h>

Inheritance diagram for chrono::vehicle::generic::Generic_MacPhersonStrut:
Collaboration diagram for chrono::vehicle::generic::Generic_MacPhersonStrut:

Public Member Functions

 Generic_MacPhersonStrut (const std::string &name)
 
virtual const ChVector getLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual double getSpindleMass () const override
 Return the mass of the spindle body.
 
virtual double getStrutMass () const override
 Return the mass of the strut body.
 
virtual double getLCAMass () const override
 Return the mass of the lower control body.
 
virtual double getUprightMass () const override
 Return the mass of the upright body.
 
virtual double getSpindleRadius () const override
 Return the radius of the spindle body (visualization only).
 
virtual double getSpindleWidth () const override
 Return the width of the spindle body (visualization only).
 
virtual double getStrutRadius () const override
 Return the radius of the strut body (visualization only).
 
virtual double getLCARadius () const override
 Return the radius of the lower control arm body (visualization only).
 
virtual double getUprightRadius () const override
 Return the radius of the upright body (visualization only).
 
virtual const ChVectorgetSpindleInertia () const override
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetStrutInertia () const override
 Return the moments of inertia of the strut body.
 
virtual const ChVectorgetLCAInertia () const override
 Return the moments of inertia of the lower control arm body.
 
virtual const ChVectorgetUprightInertia () const override
 Return the moments of inertia of the upright body.
 
virtual double getAxleInertia () const override
 Return the inertia of the axle shaft.
 
virtual double getSpringRestLength () const override
 Return the free (rest) length of the spring element.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetSpringForceFunctor () const override
 Return the functor object for spring force.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetShockForceFunctor () const override
 Return the functor object for shock force.
 
- Public Member Functions inherited from chrono::vehicle::ChMacPhersonStrut
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual bool IsSteerable () const final override
 Specify whether or not this suspension can be steered.
 
virtual bool IsIndependent () const final override
 Specify whether or not this is an independent suspension.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0) override
 Initialize this suspension subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the suspension subsystem.
 
virtual double GetTrack () override
 Get the wheel track for the suspension subsystem.
 
std::shared_ptr< ChLinkTSDAGetSpring (VehicleSide side) const
 Get a handle to the specified spring element.
 
std::shared_ptr< ChLinkTSDAGetShock (VehicleSide side) const
 Get a handle to the specified shock (damper) element.
 
virtual ChSuspension::Force ReportSuspensionForce (VehicleSide side) const override
 Return current suspension forces (spring and shock) on the specified side.
 
double GetSpringForce (VehicleSide side) const
 Get the force in the spring element.
 
double GetSpringLength (VehicleSide side) const
 Get the current length of the spring element.
 
double GetSpringDeformation (VehicleSide side) const
 Get the current deformation of the spring element.
 
double GetShockForce (VehicleSide side) const
 Get the force in the shock (damper) element.
 
double GetShockLength (VehicleSide side) const
 Get the current length of the shock (damper) element.
 
double GetShockVelocity (VehicleSide side) const
 Get the current deformation velocity of the shock (damper) element.
 
ChVector Get_LCA_sph_pos (VehicleSide side)
 Global coordinates, LCA ball joint position.
 
virtual void LogConstraintViolations (VehicleSide side) override
 Log current constraint violations.
 
virtual std::shared_ptr< ChBodyGetAntirollBody (VehicleSide side) const override
 Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...
 
void LogHardpointLocations (const ChVector<> &ref, bool inches=false)
 Log the locations of all hardpoints. More...
 
- Public Member Functions inherited from chrono::vehicle::ChSuspension
const ChVectorGetRelPosition () const
 Get the location of the suspension subsystem relative to the associated chassis reference frame. More...
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the spindle on the specified side.
 
ChQuaternion GetSpindleRot (VehicleSide side) const
 Get the orientation of the spindle body on the specified side. More...
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the spindle body on the specified side. More...
 
double GetAxleSpeed (VehicleSide side) const
 Get the angular speed of the axle on the specified side.
 
void Synchronize ()
 Synchronize this suspension subsystem. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. More...
 
virtual std::shared_ptr< ChBodyGetBrakeBody (VehicleSide side) const
 Specify the body on the specified side for a possible connection to brake subsystem. More...
 
void ApplyParkingBrake (bool brake)
 Simple model of a parking brake.
 
- 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.
 
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::ChMacPhersonStrut
enum  PointId {
  SPINDLE, UPRIGHT, LCA_F, LCA_B,
  LCA_U, LCA_CM, SHOCK_C, SHOCK_U,
  SPRING_C, SPRING_U, TIEROD_C, TIEROD_U,
  NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChMacPhersonStrut
 ChMacPhersonStrut (const std::string &name)
 
virtual bool UseTierodBodies () const
 Indicate whether or not tirod bodies are modelled (default: false). More...
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual double getTierodMass () const
 Return the mass of the tierod body.
 
virtual const ChVector getTierodInertia () const
 Return the moments of inertia of the tierod body.
 
virtual double getTierodRadius () const
 Return the radius of the tierod body (visualization only).
 
virtual std::shared_ptr< ChVehicleBushingDatagetLCABushingData () const
 Return stiffness and damping data for the LCA bushing. More...
 
virtual std::shared_ptr< ChVehicleBushingDatagetTierodBushingData () const
 Return stiffness and damping data for the tierod bushings. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChSuspension
 ChSuspension (const std::string &name)
 Construct a suspension 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...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
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::ChMacPhersonStrut
std::shared_ptr< ChBodym_upright [2]
 upright bodies (left/right)
 
std::shared_ptr< ChBodym_strut [2]
 upper control arm bodies (left/right)
 
std::shared_ptr< ChBodym_LCA [2]
 lower control arm bodies (left/right)
 
std::shared_ptr< ChBodym_tierod [2]
 tierod bodies, if used (left/right)
 
std::shared_ptr< ChLinkLockCylindricalm_cylindricalStrut [2]
 strut-LCA cylindrical joints (left/right)
 
std::shared_ptr< ChLinkUniversalm_universalStrut [2]
 chassis-strut universal joints (left/right)
 
std::shared_ptr< ChVehicleJointm_revoluteLCA [2]
 chassis-LCA revolute joints (left/right)
 
std::shared_ptr< ChVehicleJointm_sphericalLCA [2]
 upright-LCA spherical joints (left/right)
 
std::shared_ptr< ChLinkDistancem_distTierod [2]
 tierod distance constraints (left/right)
 
std::shared_ptr< ChVehicleJointm_sphericalTierod [2]
 tierod-upright spherical joints (left/right)
 
std::shared_ptr< ChVehicleJointm_universalTierod [2]
 tierod-chassis universal joints (left/right)
 
std::shared_ptr< ChLinkTSDAm_shock [2]
 spring links (left/right)
 
std::shared_ptr< ChLinkTSDAm_spring [2]
 shock links (left/right)
 
- Protected Attributes inherited from chrono::vehicle::ChSuspension
ChVector m_rel_loc
 location relative to chassis
 
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr< ChLinkLockRevolutem_revolute [2]
 handles to spindle revolute joints
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
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

◆ getLocation()

const ChVector chrono::vehicle::generic::Generic_MacPhersonStrut::getLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

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

Implements chrono::vehicle::ChMacPhersonStrut.


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