chrono::vehicle::ChRigidTire Class Referenceabstract

Description

Rigid tire model.

This tire is modeled as a rigid cylinder. Requires a terrain system that supports rigid contact with friction.

#include <ChRigidTire.h>

Inheritance diagram for chrono::vehicle::ChRigidTire:
Collaboration diagram for chrono::vehicle::ChRigidTire:

Public Member Functions

 ChRigidTire (const std::string &name)
 
void SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0)
 Set Wavefront OBJ file for contact mesh. More...
 
bool UseContactMesh () const
 Check whether or not this tire uses a contact mesh.
 
virtual double GetWidth () const =0
 Get the tire width.
 
virtual TireForce GetTireForce (bool cosim=false) const override
 Get the tire force and moment. More...
 
virtual void Initialize (std::shared_ptr< ChBody > wheel, VehicleSide side) override
 Initialize this tire system. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the rigid tire subsystem.
 
unsigned int GetNumVertices () const
 Return the number of vertices in the contact mesh.
 
unsigned int GetNumTriangles () const
 Return the number of faces in the contact mesh.
 
const std::vector< ChVector< int > > & GetMeshConnectivity () const
 Get the contact mesh connectivity.
 
const std::vector< ChVector<> > & GetMeshVertices () const
 Get the contact mesh vertices (in local frame).
 
const std::vector< ChVector<> > & GetMeshNormals () const
 Get the contact mesh vertex normals (in local frame).
 
void GetMeshVertexStates (std::vector< ChVector<>> &pos, std::vector< ChVector<>> &vel) const
 Get the current state of the collision mesh. More...
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
virtual void Synchronize (double time, const WheelState &wheel_state, const ChTerrain &terrain)
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this tire by the specified time step.
 
virtual double GetRadius () const =0
 Get the tire radius.
 
virtual double GetSlipAngle () const
 Get the tire slip angle. More...
 
virtual double GetLongitudinalSlip () const
 Get the tire longitudinal slip. More...
 
virtual double GetCamberAngle () const
 Get the tire camber angle. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
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.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
 
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
 
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
 
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
 
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
 
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
 
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
 
float GetKn () const
 Get normal stiffness coefficient for contact material.
 
float GetKt () const
 Get tangential stiffness coefficient for contact material.
 
float GetGn () const
 Get normal viscous damping coefficient for contact material.
 
float GetGt () const
 Get tangential viscous damping coefficient for contact material.
 

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...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool disc_terrain_contact (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 
- Protected Attributes inherited from chrono::vehicle::ChTire
VehicleSide m_side
 tire mounted on left/right side
 
std::shared_ptr< ChBodym_wheel
 associated wheel body
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 
float m_friction
 contact coefficient of friction
 
float m_restitution
 contact coefficient of restitution
 
float m_young_modulus
 contact material Young modulus
 
float m_poisson_ratio
 contact material Poisson ratio
 
float m_kn
 normal contact stiffness
 
float m_gn
 normal contact damping
 
float m_kt
 tangential contact stiffness
 
float m_gt
 tangential contact damping
 

Constructor & Destructor Documentation

chrono::vehicle::ChRigidTire::ChRigidTire ( const std::string &  name)
Parameters
[in]namename of this tire system

Member Function Documentation

void chrono::vehicle::ChRigidTire::GetMeshVertexStates ( std::vector< ChVector<>> &  pos,
std::vector< ChVector<>> &  vel 
) const

Get the current state of the collision mesh.

Mesh vertex positions and velocities are returned in the absolute frame.

Parameters
posmesh vertex positions (expressed in absolute frame)
velmesh vertex velocities (expressed in absolute frame)
TireForce chrono::vehicle::ChRigidTire::GetTireForce ( bool  cosim = false) const
overridevirtual

Get the tire force and moment.

A ChRigidTire always returns zero forces and moments if the tire is simulated together with the associated vehicle (the tire forces are automatically applied to the associated wheel through Chrono's frictional contact system). If the tire is co-simulated, the tire force and moments encapsulate the tire-terrain forces (i.e. the resultant of all contact forces acting on the tire); in this case, the force and moment are expressed in global frame, as applied to the center of the associated wheel.

Implements chrono::vehicle::ChTire.

void chrono::vehicle::ChRigidTire::Initialize ( std::shared_ptr< ChBody wheel,
VehicleSide  side 
)
overridevirtual

Initialize this tire system.

This function creates the tire contact shape and attaches it to the associated wheel body.

Parameters
wheelhandle to the associated wheel body
sideleft/right vehicle side

Reimplemented from chrono::vehicle::ChTire.

void chrono::vehicle::ChRigidTire::SetMeshFilename ( const std::string &  mesh_file,
double  sweep_sphere_radius = 0 
)

Set Wavefront OBJ file for contact mesh.

Parameters
[in]mesh_filename of Wavefront file
[in]sweep_sphere_radiusradius of sweeping sphere