chrono::vehicle::ChSteering Class Referenceabstract

Description

Base class for a steering subsystem.

#include <ChSteering.h>

Inheritance diagram for chrono::vehicle::ChSteering:
Collaboration diagram for chrono::vehicle::ChSteering:

Public Member Functions

 ChSteering (const std::string &name)
 
std::shared_ptr< ChBodyGetSteeringLink () const
 Get a handle to the main link of the steering subsystems. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation)=0
 Initialize this steering subsystem. More...
 
virtual void Synchronize (double time, double steering)=0
 Update the state of this steering subsystem at the current time. More...
 
virtual double GetMass () const =0
 Get the total mass of the steering subsystem.
 
virtual 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.
 
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.
 

Protected Attributes

std::shared_ptr< ChBodym_link
 handle to the main steering link
 
- 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::ChSteering::ChSteering ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

std::shared_ptr<ChBody> chrono::vehicle::ChSteering::GetSteeringLink ( ) const

Get a handle to the main link of the steering subsystems.

Return a handle to the body to which the tierods of a steerbale suspension subsystem are attached.

virtual void chrono::vehicle::ChSteering::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location,
const ChQuaternion<> &  rotation 
)
pure virtual

Initialize this steering subsystem.

The steering 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) and with specified orientation (with respect to the chassis reference frame).

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

Implemented in chrono::vehicle::ChPitmanArm, and chrono::vehicle::ChRackPinion.

virtual void chrono::vehicle::ChSteering::Synchronize ( double  time,
double  steering 
)
pure virtual

Update the state of this steering subsystem at the current time.

The steering subsystem is provided the current steering driver input (a value between -1 and +1). Positive steering input indicates steering to the left. This function is called during the vehicle update.

Parameters
[in]timecurrent time
[in]steeringcurrent steering input [-1,+1]

Implemented in chrono::vehicle::ChPitmanArm, and chrono::vehicle::ChRackPinion.