chrono::vehicle::ChRoadWheelAssembly Class Referenceabstract


Base class for tracked vehicle suspension (road-wheel assembly) subsystem.

#include <ChRoadWheelAssembly.h>

Inheritance diagram for chrono::vehicle::ChRoadWheelAssembly:
Collaboration diagram for chrono::vehicle::ChRoadWheelAssembly:

Public Member Functions

 ChRoadWheelAssembly (const std::string &name)
GuidePinType GetType () const
 Return the type of track shoe consistent with this road wheel.
std::shared_ptr< ChRoadWheelGetRoadWheel () const
 Return a handle to the road wheel subsystem.
virtual std::shared_ptr< ChBodyGetCarrierBody () const =0
 Return a handle to the carrier body.
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
< ChLinkLockRevolute
GetWheelRevolute () const
 Get a handle to the revolute joint of the road-wheel.
double GetWheelRadius () const
 Get the radius of the road wheel.
virtual double GetMass () const =0
 Get the total mass of the roadwheel assembly. More...
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)
 Initialize this suspension subsystem. More...
virtual void LogConstraintViolations ()=0
 Log current constraint violations.
- 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 track shoe subsystem.
void SetName (const std::string &name)
 Set the name identifier for this track shoe subsystem.
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.

Protected Attributes

GuidePinType m_type
 type of the track shoe matching this road wheel
std::shared_ptr< ChRoadWheelm_road_wheel
 road-wheel subsystem
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name

Constructor & Destructor Documentation

chrono::vehicle::ChRoadWheelAssembly::ChRoadWheelAssembly ( const std::string &  name)
[in]namename of the subsystem

Member Function Documentation

virtual double chrono::vehicle::ChRoadWheelAssembly::GetMass ( ) const
pure virtual

Get the total mass of the roadwheel assembly.

This includes the mass of the roadwheel and of the suspension mechanism.

Implemented in chrono::vehicle::ChLinearDamperRWAssembly, and chrono::vehicle::ChRotationalDamperRWAssembly.

void chrono::vehicle::ChRoadWheelAssembly::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location 

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always centered at the location of the road wheel and aligned with the chassis reference frame. Derived classes must call this base class implementation (which only initializes the road wheel).

[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame

Reimplemented in chrono::vehicle::ChLinearDamperRWAssembly, and chrono::vehicle::ChRotationalDamperRWAssembly.