chrono::vehicle::mrole::mrole_PitmanArmShafts Class Reference

Description

Pitman-arm with compliant column steering subsystem for the mrole vehicle.

#include <mrole_PitmanArmShafts.h>

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

Public Member Functions

 mrole_PitmanArmShafts (const std::string &name, bool rigid_connection)
 
virtual double getSteeringLinkMass () const override
 Return the mass of the steering link body.
 
virtual double getPitmanArmMass () const override
 Return the mass of the Pitman arm body.
 
virtual double getSteeringLinkRadius () const override
 Return the radius of the steering link body (visualization only).
 
virtual double getPitmanArmRadius () const override
 Return the radius of the Pitman arm body (visualization only).
 
virtual const ChVector3dgetSteeringLinkInertiaMoments () const override
 Return the moments of inertia of the steering link body.
 
virtual const ChVector3dgetSteeringLinkInertiaProducts () const override
 Return the products of inertia of the steering link body.
 
virtual const ChVector3dgetPitmanArmInertiaMoments () const override
 Return the moments of inertia of the Pitman arm body.
 
virtual const ChVector3dgetPitmanArmInertiaProducts () const override
 Return the products of inertia of the Pitman arm body.
 
virtual double getMaxAngle () const override
 Return the maximum rotation angle of the steering wheel.
 
virtual double getGearRatio () const override
 Return the transmission ratio in the steering column. More...
 
virtual double getSteeringCompliance () const override
 Return the steering column compliance (N.m/rad)
 
virtual double getSteeringColumnInertia () const override
 Return rotational inertia of steering column.
 
virtual const ChVector3d getLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual const ChVector3d getDirection (DirectionId which) override
 Return the unit vector for the specified direction. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPitmanArmShafts
 ChPitmanArmShafts (const std::string &name, bool vehicle_frame_inertia=false, bool rigid_column=false)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &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.
 
void GetShaftInformation (double time, double &motor_input, double &motor_input_der, std::vector< double > &shaft_angles, std::vector< double > &shaft_velocities, std::vector< double > &constraint_violations, ChVector3d &arm_angular_vel) const
 Return information on steering column shafts and couples (debugging).
 
- 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 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::ChPitmanArmShafts
enum  PointId {
  STEERINGLINK, PITMANARM, REV, UNIV,
  REVSPH_R, REVSPH_S, TIEROD_PA, TIEROD_IA,
  NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
enum  DirectionId {
  REV_AXIS, UNIV_AXIS_ARM, UNIV_AXIS_LINK, REVSPH_AXIS,
  NUM_DIRS
}
 Identifiers for the various direction unit vectors. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPitmanArmShafts
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 (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::ChPitmanArmShafts
std::shared_ptr< ChBodym_arm
 handle to the Pitman arm body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to the chassis-arm revolute joint
 
std::shared_ptr< ChLinkRevoluteSphericalm_revsph
 handle to the revolute-spherical joint (idler arm)
 
std::shared_ptr< ChLinkUniversalm_universal
 handle to the arm-link universal joint
 
std::shared_ptr< ChShaftm_shaft_A
 shaft connected to arm body
 
std::shared_ptr< ChShaftm_shaft_C
 shaft connected to chassis
 
std::shared_ptr< ChShaftm_shaft_A1
 shaft for implementing gear ratio
 
std::shared_ptr< ChShaftm_shaft_C1
 shaft for implementing steering input
 
std::shared_ptr< ChShaftBodyRotationm_shaft_arm
 connection of shaft_A to arm body
 
std::shared_ptr< ChShaftBodyRotationm_shaft_chassis
 connection of shaft_C to chassis body
 
std::shared_ptr< ChShaftsGearm_shaft_gear
 reduction gear between shaft_A and shaft_A1
 
std::shared_ptr< ChShaftsMotorPositionm_shaft_motor
 steering input motor between shaft_C and shaft_C1
 
std::shared_ptr< ChShaftsGearm_rigid_connection
 rigid connection between shaft_A1 and shaft_C1
 
std::shared_ptr< ChShaftsTorsionSpringm_spring_connection
 compliant connection between shaft_A1 and shaft_C1
 
- 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()

const ChVector3d chrono::vehicle::mrole::mrole_PitmanArmShafts::getDirection ( DirectionId  which)
overridevirtual

Return the unit vector for the specified direction.

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

Implements chrono::vehicle::ChPitmanArmShafts.

◆ getGearRatio()

virtual double chrono::vehicle::mrole::mrole_PitmanArmShafts::getGearRatio ( ) const
inlineoverridevirtual

Return the transmission ratio in the steering column.

This value must be larger than 1.

Implements chrono::vehicle::ChPitmanArmShafts.

◆ getLocation()

const ChVector3d chrono::vehicle::mrole::mrole_PitmanArmShafts::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::ChPitmanArmShafts.


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