Definition of the mrole assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a mrole, the powertrain model, and the 8 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. Note that this is an abstract class which cannot be instantiated. Instead, use one of the concrete classes mrole_Full or mrole_Reduced.

#include <mrole.h>

Inheritance diagram for chrono::vehicle::mrole::mrole:
Collaboration diagram for chrono::vehicle::mrole::mrole:

Public Types


Public Member Functions

void SetContactMethod (ChContactMethod val)
void SetCollisionSystemType (ChCollisionSystem::Type collsys_type)
void SetChassisFixed (bool val)
void SetChassisCollisionType (CollisionType val)
void SetDriveType (DrivelineTypeWV val)
void SetBrakeType (BrakeType brake_type)
void SetEngineType (EngineModelType val)
void SetTransmissionType (TransmissionModelType val)
void SetTireType (TireModelType val)
void SetTireCollisionType (ChTire::CollisionType collision_type)
void SetInitPosition (const ChCoordsys<> &pos)
void SetInitFwdVel (double fwdVel)
void SetInitWheelAngVel (const std::vector< double > &omega)
void SetTireStepSize (double step_size)
void EnableBrakeLocking (bool lock)
ChSystemGetSystem () const
ChWheeledVehicleGetVehicle () const
std::shared_ptr< ChChassisGetChassis () const
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
void Initialize ()
void LockAxleDifferential (int axle, bool lock)
void LockCentralDifferential (int which, 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 DriverInputs &driver_inputs, const ChTerrain &terrain)
void Advance (double step)
void SelectRoadOperation ()
void SelectOffroadSoilOperation ()
void SelectOffroadSandOperation ()
double GetMaxTireSpeed ()

Protected Member Functions

 mrole (ChSystem *system)
virtual mrole_VehicleCreateVehicle ()=0

Protected Attributes

CTIS m_ctis
ChContactMethod m_contactMethod
ChCollisionSystem::Type m_collsysType
CollisionType m_chassisCollisionType
bool m_fixed
bool m_brake_locking
DrivelineTypeWV m_driveType
EngineModelType m_engineType
TransmissionModelType m_transmissionType
BrakeType m_brake_type
TireModelType m_tireType
ChTire::CollisionType m_tire_collision_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
double m_tire_mass

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