chrono::vehicle::marder::Marder_Suspension Class Reference

Description

Linear-damper Marder track suspension.

#include <Marder_Suspension.h>

Inheritance diagram for chrono::vehicle::marder::Marder_Suspension:
Collaboration diagram for chrono::vehicle::marder::Marder_Suspension:

Public Member Functions

 Marder_Suspension (const std::string &name, VehicleSide side, int index, bool has_shock)
 
virtual const ChVector3d GetLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual double GetArmMass () const override
 Return the mass of the arm body.
 
virtual const ChVector3dGetArmInertia () const override
 Return the moments of inertia of the arm body.
 
virtual double GetArmVisRadius () const override
 Return a visualization radius for the arm body.
 
virtual double GetSpringRestAngle () const override
 Return the free (rest) angle of the spring element.
 
virtual std::shared_ptr< ChLinkRSDA::TorqueFunctorGetSpringTorqueFunctor () const override
 Return the functor object for the torsional spring torque.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorGetShockForceFunctor () const override
 Return the functor object for the translational shock force.
 
- Public Member Functions inherited from chrono::vehicle::ChTranslationalDamperSuspension
 ChTranslationalDamperSuspension (const std::string &name, bool has_shock=true, bool lock_arm=false)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const override
 Get a handle to the carrier body.
 
virtual double GetCarrierAngle () const override
 Return the current pitch angle of the carrier body. More...
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, ChTrackAssembly *track) override
 Initialize this suspension subsystem. More...
 
virtual ForceTorque ReportSuspensionForce () const override
 Return current suspension forces or torques, as appropriate (spring and shock). More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the suspension subsystem.
 
void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackSuspension
GuidePinType GetType () const
 Return the type of track shoe consistent with this road wheel.
 
std::shared_ptr< ChTrackWheelGetRoadWheel () const
 Return a handle to the road wheel subsystem.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Return the body of the idler wheel.
 
std::shared_ptr< ChLinkLockRevoluteGetWheelRevolute () const
 Get a handle to the revolute joint of the road-wheel.
 
double GetWheelRadius () const
 Get the radius of the road wheel.
 
virtual void SetOutput (bool state) override
 Enable/disable output for this subsystem. 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.
 
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 ChVector3d &moments, const ChVector3d &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::ChTranslationalDamperSuspension
enum  PointId {
  ARM, ARM_WHEEL, ARM_CHASSIS, SHOCK_A,
  SHOCK_C, NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTranslationalDamperSuspension
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual std::shared_ptr< ChLinkRSDA::TorqueFunctorGetDamperTorqueFunctor () const
 Return the functor object for the (optional) linear rotational damper.
 
virtual std::shared_ptr< ChVehicleBushingDatagetArmBushingData () const
 Return stiffness and damping data for the arm bushing. More...
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackSuspension
 ChTrackSuspension (const std::string &name, bool has_shock, bool lock_arm)
 
- 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 (ChVector3d &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...
 
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::ChTranslationalDamperSuspension
std::shared_ptr< ChBodym_arm
 trailing arm body
 
std::shared_ptr< ChVehicleJointm_joint
 joint arm-chassis
 
std::shared_ptr< ChLinkRSDAm_spring
 rotational spring
 
std::shared_ptr< ChLinkRSDAm_damper
 optional rotational damper
 
std::shared_ptr< ChLinkTSDAm_shock
 translational shock element
 
- Protected Attributes inherited from chrono::vehicle::ChTrackSuspension
GuidePinType m_type
 type of the track shoe matching this road wheel
 
bool m_has_shock
 specifies whether or not the suspension has a damper
 
bool m_lock_arm
 specified whether the suspension arm is locked
 
ChVector3d m_rel_loc
 suspension subsystem location relative to chassis
 
std::shared_ptr< ChTrackWheelm_road_wheel
 road-wheel subsystem
 
ChTrackAssemblym_track
 containing track assembly
 
- 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

◆ GetLocation()

const ChVector3d chrono::vehicle::marder::Marder_Suspension::GetLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

Implements chrono::vehicle::ChTranslationalDamperSuspension.


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