chrono::ChSuspensionTest Class Referenceabstract

## Description

Base class for suspension and steering tester This class provides the interface between the systems.

#include <ChSuspensionTest.h>

Inheritance diagram for chrono::ChSuspensionTest:
Collaboration diagram for chrono::ChSuspensionTest:

## Public Member Functions

const ChSharedPtr< ChBodyAuxRefGetChassis () const
Get a handle to the vehicle's chassis body.

const ChVectorGetChassisPos () const
Get the global location of the chassis reference frame origin.

const ChQuaternionGetChassisRot () const
Get the orientation of the chassis reference frame. More...

const ChVectorGetChassisPosCOM () const
Get the global location of the chassis center of mass.

const ChQuaternionGetChassisRotCOM () const
Get the orientation of the chassis centroidal frame. More...

ChSharedPtr< ChBodyGetWheelBody (const ChWheelID &wheelID) const
Get a handle to the specified wheel body.

const ChVectorGetWheelPos (const ChWheelID &wheel_id) const
Get the global location of the specified wheel.

const ChQuaternionGetWheelRot (const ChWheelID &wheel_id) const
Get the global rotation of the specified wheel.

const ChVectorGetWheelLinVel (const ChWheelID &wheel_id) const
global linear velocity of wheel

ChVector GetWheelAngVel (const ChWheelID &wheel_id) const
global angular velocity of wheel

ChWheelState GetWheelState (const ChWheelID &wheel_id) const
Get the complete state for the specified wheel. More...

virtual ChCoordsys GetLocalDriverCoordsys () const =0
Get the local driver position and orientation. More...

ChVector GetDriverPos () const
Get the global location of the driver.

virtual void Initialize (const ChCoordsys<> &chassisPos)
Initialize this chassis at the specified global location and orientation. More...

virtual void SetActuator_func_L (const ChSharedPtr< ChFunction > &funcL)
set the actuator function on the left wheel

virtual void SetActuator_func_R (const ChSharedPtr< ChFunction > &funcR)

virtual void Update (double time, double steering, double disp_L, double disp_R, const ChTireForces &tire_forces)
Update the state at the current time. More...

virtual void Update (double time, double disp_L, double disp_R, const ChTireForces &tire_forces)

Advance the state of this vehicle by the specified time step.

void SetStepsize (double val)
Set the integration step size for the vehicle subsystem.

double GetStepsize () const
Get the current value of the integration step size for the vehicle subsystem. More...

bool Has_steering () const

void LogConstraintViolations ()
Log current constraint violations.

Public Member Functions inherited from chrono::ChSystem
ChSystem (unsigned int max_objects=16000, double scene_size=500, bool init_sys=true)
Create a physical system. More...

ChSystem (const ChSystem &other)
Copy constructor.

virtual ~ChSystem ()
Destructor.

virtual ChSystemClone () const override
"Virtual" copy constructor (covariant return type).

void SetStep (double m_step)
Sets the time step used for integration (dynamical simulation). More...

double GetStep () const
Gets the current time step used for the integration (dynamical simulation).

void SetEndTime (double m_end_time)
Sets the end of simulation.

double GetEndTime () const
Gets the end of the simulation.

void SetStepMin (double m_step_min)
Sets the lower limit for time step (only needed if using integration methods which support time step adaption). More...

double GetStepMin () const
Gets the lower limit for time step.

void SetStepMax (double m_step_max)
Sets the upper limit for time step (only needed if using integration methods which support time step adaption). More...

double GetStepMax () const
Gets the upper limit for time step.

void SetTimestepperType (ChTimestepper::Type type)
Set the method for time integration (time stepper type). More...

ChTimestepper::Type GetTimestepperType () const
Get the current method for time integration (time stepper type).

void SetTimestepper (std::shared_ptr< ChTimestepper > mstepper)
Set the timestepper object to be used for time integration.

std::shared_ptr< ChTimestepperGetTimestepper () const
Get the timestepper currently used for time integration.

void SetMaxiter (int m_maxiter)
Sets outer iteration limit for assembly constraints. More...

int GetMaxiter () const
Gets iteration limit for assembly constraints.

void SetTol (double m_tol)
Sets tolerance (in m) for assembly constraints. More...

double GetTol () const
Gets current tolerance for assembly constraints.

void SetTolForce (double mtol)
Sets tolerance for satisfying constraints at the velocity level. More...

double GetTolForce () const
Return the current value of the tolerance used in the speed solver.

void SetMinBounceSpeed (double mval)
For elastic collisions, with objects that have nonzero restitution coefficient: objects will rebounce only if their relative colliding speed is above this threshold. More...

double GetMinBounceSpeed () const
Objects will rebounce only if their relative colliding speed is above this threshold.

void SetMaxPenetrationRecoverySpeed (double mval)
For the default stepper, you can limit the speed of exiting from penetration situations. More...

double GetMaxPenetrationRecoverySpeed () const
Get the limit on the speed for exiting from penetration situations (for Anitescu stepper)

virtual void SetSolverType (ChSolver::Type type)
Choose the solver type, to be used for the simultaneous solution of the constraints in dynamical simulations (as well as in kinematics, statics, etc.) More...

ChSolver::Type GetSolverType () const
Gets the current solver type.

When using an iterative solver (es. More...

Current maximum number of iterations, if using an iterative solver.

When using an iterative solver (es. More...

Current maxi. number of iterations, if using an iterative solver for stabilization.

void SetSolverWarmStarting (bool usewarm=true)
If you want to easily turn ON/OFF the warm starting feature of both iterative solvers (the one for speed and the other for pos.stabilization) you can simply use the following instead of accessing them directly with GetSolver() and GetStabSolver()

bool GetSolverWarmStarting () const
Tell if the warm starting is enabled for the speed solver, (if iterative type).

void SetSolverOverrelaxationParam (double momega=1.0)
If you want to easily adjust the omega overrelaxation parameter of both iterative solvers (the one for speed and the other for position stabilization) you can simply use the following instead of accessing them directly with GetSolver() and GetStabSolver(). More...

double GetSolverOverrelaxationParam () const
Tell the omega overrelaxation factor for the speed solver, (if iterative type).

void SetSolverSharpnessParam (double momega=1.0)
If you want to easily adjust the 'sharpness lambda' parameter of both iterative solvers (the one for speed and the other for pos.stabilization) you can simply use the following instead of accessing them directly with GetSolver() and GetStabSolver(). More...

double GetSolverSharpnessParam () const
Tell the 'sharpness lambda' factor for the speed solver, (if iterative type).

virtual void SetStabSolver (std::shared_ptr< ChSolver > newsolver)
Instead of using SetSolverType(), you can create your own custom solver (inherited from ChSolver) and plug it into the system using this function. More...

virtual std::shared_ptr< ChSolverGetStabSolver ()
Access directly the stabilization solver, configured to be used for the stabilization of constraints (solve delta positions). More...

virtual void SetSolver (std::shared_ptr< ChSolver > newsolver)
Instead of using SetSolverType(), you can create your own custom solver (suffice it is inherited from ChSolver) and plug it into the system using this function. More...

virtual std::shared_ptr< ChSolverGetSolver ()
Access directly the solver, configured to be used for the main differential inclusion problem (on speed-impulses). More...

void SetSystemDescriptor (std::shared_ptr< ChSystemDescriptor > newdescriptor)
Instead of using the default 'system descriptor', you can create your own custom descriptor (inherited from ChSystemDescriptor) and plug it into the system using this function. More...

std::shared_ptr
< ChSystemDescriptor
GetSystemDescriptor ()
Access directly the 'system descriptor'.

Changes the number of parallel threads (by default is n.of cores). More...

Get the number of parallel threads. More...

void Set_G_acc (const ChVector<> &m_acc)
Sets the G (gravity) acceleration vector, affecting all the bodies in the system.

const ChVectorGet_G_acc () const
Gets the G (gravity) acceleration vector affecting all the bodies in the system.

void SetupInitial () override
Initial system setup before analysis. More...

void Clear ()
Removes all bodies/marker/forces/links/contacts, also resets timers and events. More...

virtual
ChMaterialSurfaceBase::ContactMethod
GetContactMethod () const
Return the contact method supported by this system. More...

virtual ChBodyNewBody ()
Create and return the pointer to a new body. More...

virtual ChBodyAuxRefNewBodyAuxRef ()
Create and return the pointer to a new body with auxiliary reference frame. More...

void AddProbe (const std::shared_ptr< ChProbe > &newprobe)
Attach a probe to this system.

void AddControls (const std::shared_ptr< ChControls > &newcontrols)
Attach a control to this system.

void RemoveAllProbes ()
Remove all probes from this system.

void RemoveAllControls ()
Remove all controls from this system.

virtual void SetContactContainer (std::shared_ptr< ChContactContainerBase > container)
Replace the contact continer.

std::shared_ptr
< ChContactContainerBase
GetContactContainer ()
Get the contact container.

void Reference_LM_byID ()
Given inserted markers and links, restores the pointers of links to markers given the information about the marker IDs. More...

int GetNcontacts ()
Gets the number of contacts.

virtual double GetTimerStep ()
Return the time (in seconds) spent for computing the time step.

virtual double GetTimerSolver ()
Return the fraction of time (in seconds) for the solver, within the time step. More...

virtual double GetTimerSetup ()
Return the time (in seconds) for the solver Setup phase.

Return the fraction of time (in seconds) for finding collisions, within the time step.

virtual double GetTimerCollisionNarrow ()
Return the fraction of time (in seconds) for finding collisions, within the time step.

virtual double GetTimerUpdate ()
Return the fraction of time (in seconds) for updating auxiliary data, within the time step.

void ResetTimers ()
Resets the timers.

virtual void Setup () override
Counts the number of bodies and links. More...

virtual void Update (bool update_assets=true) override
Updates all the auxiliary data and children of bodies, forces, links, given their current state. More...

virtual void IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
From item's state acceleration to global acceleration vector.

virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
From state derivative (acceleration) to system, sometimes might be needed.

virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
From system to reaction forces (last computed) - some timestepper might need this.

virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
From reaction forces to system, ex. store last computed reactions in ChLink objects for plotting etc.

virtual void IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
Takes the F force term, scale and adds to R at given offset: R += c*F.

virtual void IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.

virtual void IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

virtual void IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

virtual void IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) override
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.

virtual void IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
Prepare variables and constraints for a solution: From a vector R into the F 'force' term of the variables From a vector Qc into the Qb 'constraint' term of the constraints From a vector v into the q 'unknowns' term of the variables (for warm starting) From a vector L into the L 'lagrangian ' term of the constraints (for warm starting)

virtual void IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
After a solver solution, fetch values from variables and constraints: To a vector v from the q 'unknowns' term of the variables To a vector L from the L 'lagrangian ' term of the constraints.

virtual void InjectVariables (ChSystemDescriptor &mdescriptor) override
Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...

virtual void InjectConstraints (ChSystemDescriptor &mdescriptor) override
Tell to a system descriptor that there are contraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...

Adds the current jacobians in encapsulated ChConstraints.

virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...

virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) override
Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...

virtual void VariablesFbReset () override
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void VariablesFbLoadForces (double factor=1) override
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void VariablesFbIncrementMq () override
Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void VariablesQbSetSpeed (double step=0) override
Fetches the item speed (ex. More...

virtual void VariablesQbIncrementPosition (double step) override
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void ConstraintsBiReset () override
Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) override
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsBiLoad_Ct (double factor=1) override
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsBiLoad_Qc (double factor=1) override
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void ConstraintsFbLoadForces (double factor=1) override
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void ConstraintsFetch_react (double factor=1) override
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

virtual int GetNcoords_x () override
Tells the number of position coordinates x in y = {x, v}.

virtual int GetNcoords_v () override
Tells the number of speed coordinates of v in y = {x, v} and dy/dt={v, a}.

virtual int GetNconstr () override
Tells the number of lagrangian multipliers (constraints)

virtual void StateGather (ChState &x, ChStateDelta &v, double &T) override
From system to state y={x,v}.

virtual void StateScatter (const ChState &x, const ChStateDelta &v, const double T) override
From state Y={x,v} to system.

virtual void StateGatherAcceleration (ChStateDelta &a) override
From system to state derivative (acceleration), some timesteppers might need last computed accel.

virtual void StateScatterAcceleration (const ChStateDelta &a) override
From state derivative (acceleration) to system, sometimes might be needed.

virtual void StateGatherReactions (ChVectorDynamic<> &L) override
From system to reaction forces (last computed) - some timestepper might need this.

virtual void StateScatterReactions (const ChVectorDynamic<> &L) override
From reaction forces to system, ex. store last computed reactions in ChLink objects for plotting etc.

virtual void StateIncrementX (ChState &x_new, const ChState &x, const ChStateDelta &Dx) override
Perform x_new = x + dx for x in Y = {x, dx/dt} It takes care of the fact that x has quaternions, dx has angular vel etc. More...

virtual bool StateSolveCorrection (ChStateDelta &Dv, ChVectorDynamic<> &L, const ChVectorDynamic<> &R, const ChVectorDynamic<> &Qc, const double c_a, const double c_v, const double c_x, const ChState &x, const ChStateDelta &v, const double T, bool force_state_scatter=true, bool force_setup=true) override
Assuming a DAE of the form M*a = F(x,v,t) + Cq'*L C(x,t) = 0 this function computes the solution of the change Du (in a or v or x) for a Newton iteration within an implicit integration scheme. More...

virtual void LoadResidual_F (ChVectorDynamic<> &R, const double c) override
Increment a vector R with the term c*F: R += c*F. More...

virtual void LoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
Increment a vector R with a term that has M multiplied a given vector w: R += c*M*w. More...

virtual void LoadResidual_CqL (ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
Increment a vectorR with the term Cq'*L: R += c*Cq'*L. More...

virtual void LoadConstraint_C (ChVectorDynamic<> &Qc, const double c, const bool do_clamp=false, const double mclam=1e30) override
Increment a vector Qc with the term C: Qc += c*C. More...

virtual void LoadConstraint_Ct (ChVectorDynamic<> &Qc, const double c) override
Increment a vector Qc with the term Ct = partial derivative dC/dt: Qc += c*Ct. More...

int RecordAllProbes ()
If ChProbe() objects are added to this system, using this command you force the ChProbe::Record() on all them, at once. More...

int ResetAllProbes ()
If ChProbe() objects are added to this system, using this command you force the ChProbe::Reset() on all them, at once. More...

virtual void CustomEndOfStep ()
Executes custom processing at the end of step. More...

bool ExecuteControlsForUpdate ()
If ChControl() objects are added to this system, using the following commands you call the execution of their scripts. More...

bool ExecuteControlsForStep ()

void SynchronizeLastCollPositions ()
All bodies with collision detection data are requested to store the current position as "last position collision-checked".

double ComputeCollisions ()
Perform the collision detection. More...

void SetCustomComputeCollisionCallback (ChCustomComputeCollisionCallback *mcallb)
Use this if you want that some specific callback function is executed at each collision detection step (ex. More...

void SetCustomCollisionPointCallback (ChCustomCollisionPointCallback *mcallb)
Use this if you want that some specific callback function is executed soon after each contact point is created. More...

void SetCollisionSystem (std::shared_ptr< collision::ChCollisionSystem > newcollsystem)
For higher performance (ex. More...

std::shared_ptr
< collision::ChCollisionSystem
GetCollisionSystem () const
Access the collision system, the engine which computes the contact points (usually you don't need to access it, since it is automatically handled by the client ChSystem object). More...

void SetUseSleeping (bool ms)
Turn on this feature to let the system put to sleep the bodies whose motion has almost come to a rest. More...

bool GetUseSleeping () const
Tell if the system will put to sleep the bodies whose motion has almost come to a rest.

int DoStepDynamics (double m_step)
Advances the dynamical simulation for a single step, of length m_step. More...

bool DoFrameDynamics (double m_endtime)
Performs integration until the m_endtime is exactly reached, but current time step may be automatically "retouched" to meet exactly the m_endtime after n steps. More...

bool DoEntireDynamics ()
Given the current state, the sw simulates the dynamical behaviour of the system, until the end time is reached, repeating many steps (maybe the step size will be automatically changed if the integrator method supports step size adaption). More...

bool DoEntireUniformDynamics (double frame_step)
Like "DoEntireDynamics", but results are provided at uniform steps "frame_step", using the DoFrameDynamics() many times. More...

size_t GetStepcount () const
Return the total number of time steps taken so far.

void ResetStepcount ()
Reset to 0 the total number of time steps.

int GetSolverCallsCount () const
Return the number of calls to the solver's Solve() function. More...

int GetSolverSetupCount () const
Return the number of calls to the solver's Setup() function. More...

void SetDumpSolverMatrices (bool md)
Set this to "true" to enable automatic saving of solver matrices at each time step, for debugging purposes. More...

bool GetDumpSolverMatrices () const

void DumpSystemMatrices (bool save_M, bool save_K, bool save_R, bool save_Cq, const char *path)
Dump the current M mass matrix, K damping matrix, R damping matrix, Cq constraint jacobian matrix (at the current configuration). More...

void GetMassMatrix (ChSparseMatrix *M)
Compute the system-level mass matrix. More...

void GetStiffnessMatrix (ChSparseMatrix *K)
Compute the system-level stiffness matrix, i.e. More...

void GetDampingMatrix (ChSparseMatrix *R)
Compute the system-level damping matrix, i.e. More...

void GetConstraintJacobianMatrix (ChSparseMatrix *Cq)
Compute the system-level constraint jacobian matrix, i.e. More...

bool DoStepKinematics (double m_step)
Advances the kinematic simulation for a single step, of length m_step. More...

bool DoFrameKinematics (double m_endtime)
Performs kinematics until the m_endtime is exactly reached, but current time step may be automatically "retouched" to meet exactly the m_endtime after n steps. More...

bool DoEntireKinematics ()
Given the current state, this kinematic simulation satisfies all the costraints with the "DoStepKinematics" procedure for each time step, from the current time to the end time. More...

bool DoAssembly (int action)
Given the current time and state, attempt to satisfy all constraints, using a Newton-Raphson iteration loop. More...

bool DoFullAssembly ()
Shortcut for full position/velocity/acceleration assembly.

bool DoStaticLinear ()
Solve the position of static equilibrium (and the reactions). More...

bool DoStaticNonlinear (int nsteps=10)
Solve the position of static equilibrium (and the reactions). More...

bool DoStaticRelaxing (int nsteps=10)
Finds the position of static equilibrium (and the reactions) starting from the current position. More...

virtual void ArchiveOUT (ChArchiveOut &marchive) override
Method to allow serialization of transient data to archives.

virtual void ArchiveIN (ChArchiveIn &marchive) override
Method to allow deserialization of transient data from archives.

int FileProcessChR (ChStreamInBinary &m_file)
Process a ".chr" binary file containing the full system object hierarchy as exported -for example- by the R3D modeler, with chrono plugin version, or by using the FileWriteChR() function. More...

int FileWriteChR (ChStreamOutBinary &m_file)
Write a ".chr" binary file containing the full system object hierarchy (bodies, forces, links, etc.) (deprecated function - obsolete)

Public Member Functions inherited from chrono::ChAssembly
ChAssembly (const ChAssembly &other)

void Clear ()
Removes all inserted items: bodies, links, etc.

virtual void AddBody (std::shared_ptr< ChBody > newbody)
Attach a body to this system. Must be an object of exactly ChBody class.

Attach a link to this system. Must be an object of ChLink or derived classes.

virtual void AddOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > newitem)
Attach a ChPhysicsItem object that is not a body or link.

void Add (std::shared_ptr< ChPhysicsItem > newitem)
Attach whatever type of ChPhysicsItem (ex a ChBody, or a ChParticles, or a ChLink, etc.) to the system. More...

void AddBatch (std::shared_ptr< ChPhysicsItem > newitem)
Items added in this way are added like in the Add() method, but not instantly, they are simply queued in a batch of 'to add' items, that are added automatically at the first Setup() call. More...

void FlushBatch ()
If some items are queued for addition in system, using AddBatch(), this will effectively add them and clean the batch. More...

virtual void RemoveBody (std::shared_ptr< ChBody > mbody)
Remove a body from this system.

Remove a link from this system.

virtual void RemoveOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > mitem)
Remove a ChPhysicsItem object that is not a body or a link.

void Remove (std::shared_ptr< ChPhysicsItem > newitem)
Remove whatever type of ChPhysicsItem that was added to the system. More...

void RemoveAllBodies ()
Remove all bodies from this system.

Remove all links from this system.

void RemoveAllOtherPhysicsItems ()
Remove all physics items that were not added to body or link lists.

IteratorBodies IterBeginBodies ()
Get a ChBody iterator, initialized at the beginning of body list.

IteratorBodies IterEndBodies ()

IteratorOtherPhysicsItems IterBeginOtherPhysicsItems ()
Get a ChPhysics iterator, initialized at the beginning of additional ChPhysicsItems.

IteratorOtherPhysicsItems IterEndOtherPhysicsItems ()

IteratorPhysicsItems IterBeginPhysicsItems ()
Get a ChPhysics iterator.

IteratorPhysicsItems IterEndPhysicsItems ()

std::vector< std::shared_ptr
< ChBody > > *
Get_bodylist ()
Gets the list of children bodies -low level function-. More...

std::vector< std::shared_ptr
Gets the list of children links -low level function-. More...

std::vector< std::shared_ptr
< ChPhysicsItem > > *
Get_otherphysicslist ()
Gets the list of children physics items that are not in the body or link lists. More...

std::shared_ptr< ChBodySearchBody (const char *m_name)
Searches a body from its ChObject name.

Searches a link from its ChObject name.

std::shared_ptr< ChPhysicsItemSearchOtherPhysicsItem (const char *m_name)
Searches from other ChPhysics items (not bodies or links) from name.

std::shared_ptr< ChPhysicsItemSearch (const char *m_name)
Searches whatever item (body, link or other ChPhysics items)

std::shared_ptr< ChMarkerSearchMarker (const char *m_name)
Searches a marker from its ChObject name.

std::shared_ptr< ChMarkerSearchMarker (int markID)
Searches a marker from its unique ID.

int GetNbodies () const
Gets the number of active bodies (so, excluding those that are sleeping or are fixed to ground)

int GetNbodiesSleeping () const
Gets the number of bodies that are in sleeping mode (excluding fixed bodies).

int GetNbodiesFixed () const
Gets the number of bodies that are fixed to ground.

int GetNbodiesTotal () const
Gets the total number of bodies added to the system, including the grounded and sleeping bodies.

Gets the number of links .

int GetNphysicsItems () const
Gets the number of other physics items (not ChLinks or ChBodies).

int GetNcoords () const
Gets the number of coordinates (considering 7 coords for rigid bodies because of the 4 dof of quaternions)

int GetNdof () const
Gets the number of degrees of freedom of the system.

int GetNdoc () const
Gets the number of scalar constraints added to the system, including constraints on quaternion norms.

int GetNsysvars () const
Gets the number of system variables (coordinates plus the constraint multipliers, in case of quaternions)

int GetNcoords_w () const
Gets the number of coordinates (considering 6 coords for rigid bodies, 3 transl.+3rot.)

int GetNdoc_w () const
Gets the number of scalar constraints added to the system.

int GetNdoc_w_C () const
Gets the number of scalar constraints added to the system (only bilaterals)

int GetNdoc_w_D () const
Gets the number of scalar constraints added to the system (only unilaterals)

int GetNsysvars_w () const
Gets the number of system variables (coordinates plus the constraint multipliers)

virtual void SetSystem (ChSystem *m_system) override
Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system.

virtual void SyncCollisionModels () override
If this physical item contains one or more collision models, sinchronize their coordinates and bounding boxes to the state of the item. More...

virtual void Update (double mytime, bool update_assets=true) override
Updates all the auxiliary data and children of bodies, forces, links, given their current state. More...

virtual void SetNoSpeedNoAcceleration () override
Set zero speed (and zero accelerations) in state, without changing the position.

virtual int GetDOF () override
Get the number of scalar coordinates (ex. dim of position vector)

virtual int GetDOF_w () override
Get the number of scalar coordinates of variables derivatives (ex. dim of speed vector)

virtual int GetDOC () override
Get the number of scalar constraints, if any, in this item.

virtual int GetDOC_c () override
Get the number of scalar constraints, if any, in this item (only bilateral constr.)

virtual int GetDOC_d () override
Get the number of scalar constraints, if any, in this item (only unilateral constr.)

void ShowHierarchy (ChStreamOutAscii &m_file, int level=0)
Writes the hierarchy of contained bodies, markers, etc. More...

Public Member Functions inherited from chrono::ChPhysicsItem
ChPhysicsItem (const ChPhysicsItem &other)

ChSystemGetSystem () const
Get the pointer to the parent ChSystem()

void AddAsset (std::shared_ptr< ChAsset > masset)
Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset)

std::vector< std::shared_ptr
< ChAsset > > &
GetAssets ()

std::shared_ptr< ChAssetGetAssetN (unsigned int num)
Access the Nth asset in the list of optional assets.

virtual ChFrame GetAssetsFrame (unsigned int nclone=0)
Get the master coordinate system for assets that have some geometric meaning. More...

virtual unsigned int GetAssetsFrameNclones ()
Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More...

virtual bool GetCollide () const
Tell if the object is subject to collision. More...

If this physical item contains one or more collision models, add them to the system's collision engine. More...

virtual void RemoveCollisionModelsFromSystem ()
If this physical item contains one or more collision models, remove them from the system's collision engine. More...

virtual void GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
Get the entire AABB axis-aligned bounding box of the object. More...

virtual void GetCenter (ChVector<> &mcenter)
Get a symbolic 'center' of the object. More...

virtual void StreamINstate (ChStreamInBinary &mstream)
Method to deserialize only the state (position, speed) Must be implemented by child classes. More...

virtual void StreamOUTstate (ChStreamOutBinary &mstream)
Method to serialize only the state (position, speed) Must be implemented by child classes. More...

unsigned int GetOffset_x ()
Get offset in the state vector (position part)

unsigned int GetOffset_w ()
Get offset in the state vector (speed part)

unsigned int GetOffset_L ()
Get offset in the lagrangian multipliers.

void SetOffset_x (const unsigned int moff)
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void SetOffset_w (const unsigned int moff)
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void SetOffset_L (const unsigned int moff)
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.

Public Member Functions inherited from chrono::ChObj
ChObj (const ChObj &other)

int GetIdentifier () const
Gets the numerical identifier of the object.

void SetIdentifier (int id)
Sets the numerical identifier of the object.

double GetChTime () const
Gets the simulation time of this object.

void SetChTime (double m_time)
Sets the simulation time of this object.

const char * GetName () const
Gets the name of the object as C Ascii null-terminated string -for reading only!

void SetName (const char myname[])
Sets the name of this object, as ascii string.

std::string GetNameString () const
Gets the name of the object as C Ascii null-terminated string.

void SetNameString (const std::string &myname)
Sets the name of this object, as std::string.

void MFlagsSetAllOFF (int &mflag)

void MFlagsSetAllON (int &mflag)

void MFlagSetON (int &mflag, int mask)

void MFlagSetOFF (int &mflag, int mask)

int MFlagGet (int &mflag, int mask)

Public Member Functions inherited from chrono::ChIntegrableIIorder
virtual int GetNcoords_a ()
Return the number of acceleration coordinates of a in dy/dt={v, a} This is a default implementation that works in almost all cases, as dim(a) = dim(v),.

virtual void StateSetup (ChState &x, ChStateDelta &v, ChStateDelta &a)
Set up the system state with separate II order components x, v, a for y = {x, v} and dy/dt={v, a}.

virtual bool StateSolveA (ChStateDelta &Dvdt, ChVectorDynamic<> &L, const ChState &x, const ChStateDelta &v, const double T, const double dt, bool force_state_scatter=true)
Solve for accelerations: a = f(x,v,t) Given current state y={x,v} , computes acceleration a in the state derivative dy/dt={v,a} and lagrangian multipliers L (if any). More...

virtual int GetNcoords_y () override
Return the number of coordinates in the state Y. More...

virtual int GetNcoords_dy () override
Return the number of coordinates in the state increment. More...

virtual void StateGather (ChState &y, double &T) override
Gather system state in specified array. More...

virtual void StateScatter (const ChState &y, const double T) override
Scatter the states from the provided array to the system. More...

virtual void StateGatherDerivative (ChStateDelta &Dydt) override
Gather from the system the state derivatives in specified array. More...

virtual void StateScatterDerivative (const ChStateDelta &Dydt) override
Scatter the state derivatives from the provided array to the system. More...

virtual void StateIncrement (ChState &y_new, const ChState &y, const ChStateDelta &Dy) override
Increment state array: y_new = y + Dy. More...

virtual bool StateSolve (ChStateDelta &dydt, ChVectorDynamic<> &L, const ChState &y, const double T, const double dt, bool force_state_scatter=true) override
Solve for state derivatives: dy/dt = f(y,t). More...

virtual bool StateSolveCorrection (ChStateDelta &Dy, ChVectorDynamic<> &L, const ChVectorDynamic<> &R, const ChVectorDynamic<> &Qc, const double a, const double b, const ChState &y, const double T, const double dt, bool force_state_scatter=true, bool force_setup=true) override
This was for Ist order implicit integrators, but here we disable it.

Public Member Functions inherited from chrono::ChIntegrable
virtual void StateSetup (ChState &y, ChStateDelta &dy)
Set up the system state.

virtual void LoadResidual_Hv (ChVectorDynamic<> &R, const ChVectorDynamic<> &v, const double c)
Increment a vector R (usually the residual in a Newton Raphson iteration for solving an implicit integration step) with a term that has H multiplied a given vector w: R += c*H*w. More...

## Protected Attributes

ChSharedPtr< ChBodyAuxRefm_ground
handle to the fixed ground body

ChSharedPtr< ChSuspension > m_suspension
list of handles to suspension subsystems, only 1 in this case.

ChSharedPtr< ChBodym_post_L
left shaker post

ChSharedPtr< ChBodym_post_R
right shaker post

left post prismatic joint

actuate left post

actuate L suspension to a specified height

right post prismatic joint

actuate right post

actuate R suspension to a specified height

bool m_has_steering
include steering?

ChSharedPtr< ChSteering > m_steering
handle to the steering subsystem.

ChWheelList m_wheels
list of handles to wheel subsystems, 2 in this case.

double m_stepsize
integration step-size for the vehicle system

ChSharedPtr< ChFunctionm_actuator_L
actuator function applied to left wheel

ChSharedPtr< ChFunctionm_actuator_R
actuator function applied to right wheel

Protected Attributes inherited from chrono::ChSystem
std::vector< std::shared_ptr
< ChProbe > >
probelist
list of 'probes' (variable-recording objects)

std::vector< std::shared_ptr
< ChControls > >
controlslist
list of 'controls' script objects

std::shared_ptr
< ChContactContainerBase
contact_container
the container of contacts

ChVector G_acc
gravitational acceleration

double end_time
end of simulation

double step
time step

double step_min
min time step

double step_max
max time step

double tol
tolerance

double tol_force
tolerance for forces (used to obtain a tolerance for impulses)

int maxiter
max iterations for nonlinear convergence in DoAssembly()

bool use_sleeping
if true, put to sleep objects that come to rest

std::shared_ptr
< ChSystemDescriptor
descriptor
the system descriptor

std::shared_ptr< ChSolversolver_speed
the solver for speed problem

std::shared_ptr< ChSolversolver_stab
the solver for position (stabilization) problem, if any

int max_iter_solver_speed
maximum num iterations for the iterative solver

int max_iter_solver_stab
maximum num iterations for the iterative solver for constraint stabilization

int max_steps_simplex
maximum number of steps for the simplex solver.

double min_bounce_speed
minimum speed for rebounce after impacts. Lower speeds are clamped to 0

double max_penetration_recovery_speed
limit for the speed of penetration recovery (positive, speed of exiting)

size_t stepcount
internal counter for steps

int setupcount
number of calls to the solver's Setup()

int solvecount
number of StateSolveCorrection (reset to 0 at each timestep of static analysis)

bool dump_matrices
for debugging

int ncontacts
total number of contacts

std::shared_ptr
< collision::ChCollisionSystem
collision_system
collision engine

std::vector
< ChCustomComputeCollisionCallback * >
collision_callbacks

ChTimer< double > timer_step
timer for integration step

ChTimer< double > timer_solver
timer for solver (excluding setup phase)

ChTimer< double > timer_setup
timer for solver setup

ChTimer< double > timer_collision_narrow
timer for collision narrow phase

ChTimer< double > timer_update
timer for system update

std::shared_ptr< ChTimesteppertimestepper
time-stepper object

Protected Attributes inherited from chrono::ChAssembly
std::vector< std::shared_ptr
< ChBody > >
bodylist
list of rigid bodies

std::vector< std::shared_ptr

std::vector< std::shared_ptr
< ChPhysicsItem > >
otherphysicslist
list of other physic objects that are not bodies or links

std::vector< std::shared_ptr
< ChPhysicsItem > >
batch_to_insert
list of items to insert when doing Setup() or Flush.

int nbodies
number of bodies (currently active)

int nphysicsitems
number of other physics items

int ncoords
number of scalar coordinates (including 4th dimension of quaternions) for all active bodies

int ndoc
number of scalar costraints (including constr. on quaternions)

int nsysvars
number of variables (coords+lagrangian mult.), i.e. = ncoords+ndoc for all active bodies

int ncoords_w
number of scalar coordinates when using 3 rot. dof. per body; for all active bodies

int ndoc_w
number of scalar costraints when using 3 rot. dof. per body; for all active bodies

int nsysvars_w
number of variables when using 3 rot. dof. per body; i.e. = ncoords_w+ndoc_w

int ndof
number of degrees of freedom, = ncoords-ndoc = ncoords_w-ndoc_w ,

int ndoc_w_C
number of scalar costraints C, when using 3 rot. dof. per body (excluding unilaterals)

int ndoc_w_D
number of scalar costraints D, when using 3 rot. dof. per body (only unilaterals)

int nbodies_sleep
number of bodies that are sleeping

int nbodies_fixed
number of bodies that are fixed

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
parent system

std::vector< std::shared_ptr
< ChAsset > >
assets
set of assets

unsigned int offset_x
offset in vector of state (position part)

unsigned int offset_w
offset in vector of state (speed part)

unsigned int offset_L
offset in vector of lagrangian multipliers

Protected Attributes inherited from chrono::ChObj
double ChTime
the time of simulation for the object

Public Attributes inherited from chrono::ChSystem
ChCustomCollisionPointCallbackcollisionpoint_callback

Protected Member Functions inherited from chrono::ChSystem
virtual void DescriptorPrepareInject (ChSystemDescriptor &mdescriptor)
Pushes all ChConstraints and ChVariables contained in links, bodies, etc. More...

## Member Function Documentation

 const ChQuaternion& chrono::ChSuspensionTest::GetChassisRot ( ) const

Get the orientation of the chassis reference frame.

The chassis orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

 const ChQuaternion& chrono::ChSuspensionTest::GetChassisRotCOM ( ) const

Get the orientation of the chassis centroidal frame.

The chassis orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

 virtual ChCoordsys chrono::ChSuspensionTest::GetLocalDriverCoordsys ( ) const
pure virtual

Get the local driver position and orientation.

This is a coordinate system relative to the chassis reference frame.

 double chrono::ChSuspensionTest::GetStepsize ( ) const

Get the current value of the integration step size for the vehicle subsystem.

 ChWheelState chrono::ChSuspensionTest::GetWheelState ( const ChWheelID & wheel_id ) const

Get the complete state for the specified wheel.

In this case, no wheel spin (omega) is given, since the wheels are locked.

 virtual void chrono::ChSuspensionTest::Initialize ( const ChCoordsys<> & chassisPos )
virtual

Initialize this chassis at the specified global location and orientation.

Parameters
 [in] chassisPos initial global position and orientation
 virtual void chrono::ChSuspensionTest::Update ( double time, double steering, double disp_L, double disp_R, const ChTireForces & tire_forces )
virtual

Update the state at the current time.

steering between -1 and +1, and no force need be applied if using external actuation

Parameters
 [in] time current time [in] steering current steering input [-1,+1] [in] disp_L left post displacement [in] disp_R right post displacement [in] tire_forces tires force to apply to wheel
 virtual void chrono::ChSuspensionTest::Update ( double time, double disp_L, double disp_R, const ChTireForces & tire_forces )
virtual
Parameters
 [in] time current time [in] disp_L left post displacement [in] disp_R right post displacement [in] tire_forces tires force to apply to wheel