chrono::vehicle::ChShaftsDriveline2WD Class Referenceabstract

Description

2WD driveline model template based on ChShaft objects.

This template can be used to model either a FWD or a RWD driveline.

#include <ChShaftsDriveline2WD.h>

Inheritance diagram for chrono::vehicle::ChShaftsDriveline2WD:
Collaboration diagram for chrono::vehicle::ChShaftsDriveline2WD:

Public Member Functions

 ChShaftsDriveline2WD (const std::string &name)
 
void SetMotorBlockDirection (const ChVector<> &dir)
 Set the direction of the motor block. More...
 
void SetAxleDirection (const ChVector<> &dir)
 Set the direction of the wheel axles. More...
 
virtual int GetNumDrivenAxles () const finaloverride
 Return the number of driven axles. More...
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, const ChSuspensionList &suspensions, const std::vector< int > &driven_axles) override
 Initialize the driveline subsystem. More...
 
virtual double GetWheelTorque (const WheelID &wheel_id) const override
 Get the motor torque to be applied to the specified wheel.
 
- Public Member Functions inherited from chrono::vehicle::ChDriveline
 ChDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. More...
 
virtual double GetDriveshaftSpeed () const
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double torque)
 Update the driveline subsystem: apply the specified motor torque. More...
 
const std::vector< int > & GetDrivenAxleIndexes () const
 Get the indexes of the vehicle's axles driven by this driveline subsystem.
 
- 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 Member Functions

virtual double GetDriveshaftInertia () const =0
 Return the inertia of the driveshaft.
 
virtual double GetDifferentialBoxInertia () const =0
 Return the inertia of the differential box.
 
virtual double GetConicalGearRatio () const =0
 Return the gear ratio for the conical gear.
 
virtual double GetDifferentialRatio () const =0
 Return the gear ratio for the differential.
 

Additional Inherited Members

- Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaftm_driveshaft
 handle to the shaft connection to the powertrain
 
std::vector< int > m_driven_axles
 indexes of the driven vehicle axles
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Member Function Documentation

virtual int chrono::vehicle::ChShaftsDriveline2WD::GetNumDrivenAxles ( ) const
finaloverridevirtual

Return the number of driven axles.

A ChShaftsDriveline2WD driveline connects to a single axle.

Implements chrono::vehicle::ChDriveline.

void chrono::vehicle::ChShaftsDriveline2WD::Initialize ( std::shared_ptr< ChBody chassis,
const ChSuspensionList suspensions,
const std::vector< int > &  driven_axles 
)
overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the axles of the specified suspension subsystems.

Parameters
chassishandle to the chassis body
suspensionslist of all vehicle suspension subsystems
driven_axlesindexes of the driven vehicle axles

Implements chrono::vehicle::ChDriveline.

void chrono::vehicle::ChShaftsDriveline2WD::SetAxleDirection ( const ChVector<> &  dir)

Set the direction of the wheel axles.

This direction is a unit vector, relative to the chassis frame. It must be specified for the design configuration (for the ISO vehicle coordinate system, this is typically [0, 1, 0]).

void chrono::vehicle::ChShaftsDriveline2WD::SetMotorBlockDirection ( const ChVector<> &  dir)

Set the direction of the motor block.

This direction is a unit vector, relative to the chassis frame (for the ISO coordinate system, this is [1, 0, 0] for a longitudinal engine and [0, 1, 0] for a transversal engine).