chrono::vehicle::ChRoller Class Referenceabstract

Description

Base class for a roller wheel subsystem.

#include <ChRoller.h>

Inheritance diagram for chrono::vehicle::ChRoller:
Collaboration diagram for chrono::vehicle::ChRoller:

Public Member Functions

 ChRoller (const std::string &name)
 
virtual GuidePinType GetType () const =0
 Return the type of track shoe consistent with this roller wheel.
 
std::shared_ptr< ChBodyGetBody () const
 Get a handle to the roller body.
 
std::shared_ptr
< ChLinkLockRevolute
GetRevolute () const
 Get a handle to the revolute joint.
 
virtual double GetMass () const =0
 Return the mass of the roller body.
 
virtual const ChVectorGetInertia ()=0
 Return the moments of inertia of the roller body.
 
virtual double GetRadius () const =0
 Get the radius of the road wheel.
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restiturion. 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.
 
void SetCollide (bool val)
 Turn on/off collision flag for the road wheel.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)
 Initialize this roller subsystem. More...
 
void LogConstraintViolations ()
 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

std::shared_ptr< ChBodym_wheel
 handle to the roller body
 
std::shared_ptr
< ChLinkLockRevolute
m_revolute
 handle to roller revolute joint
 
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
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Constructor & Destructor Documentation

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

Member Function Documentation

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

Initialize this roller subsystem.

The roller subsystem is initialized by attaching it to the chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the roller subsystem reference frame is always aligned with the chassis reference frame. A derived roller subsystem template class must extend this default implementation and specify contact geometry for the roller wheel.

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

Reimplemented in chrono::vehicle::ChDoubleRoller.

void chrono::vehicle::ChRoller::SetContactFrictionCoefficient ( float  friction_coefficient)

Set coefficient of friction.

The default value is 0.7

void chrono::vehicle::ChRoller::SetContactMaterialCoefficients ( float  kn,
float  gn,
float  kt,
float  gt 
)

Set contact material coefficients.

These values are used directly to compute contact forces (if the containing system is so configured and if the DEM-P contact method is being used). The default values are: kn=2e5, gn=40, kt=2e5, gt=20

Parameters
[in]knnormal contact stiffness
[in]gnnormal contact damping
[in]kttangential contact stiffness
[in]gttangential contact damping
void chrono::vehicle::ChRoller::SetContactMaterialProperties ( float  young_modulus,
float  poisson_ratio 
)

Set contact material properties.

These values are used to calculate contact material coefficients (if the containing system is so configured and if the DEM-P contact method is being used). The default values are: Y = 1e8 and nu = 0.3

Parameters
[in]young_modulusYoung's modulus of elasticity
[in]poisson_ratioPoisson ratio
void chrono::vehicle::ChRoller::SetContactRestitutionCoefficient ( float  restitution_coefficient)

Set coefficient of restiturion.

The default value is 0.1