chrono::vehicle::ChWheel Class Referenceabstract


Base class for a vehicle wheel subsystem.

A wheel subsystem does not own a body. Instead, when attached to a suspension subsystem, the wheel's mass properties are used to update those of the spindle body owned by the suspension. A concrete wheel subsystem can optionally carry its own visualization assets (which are associated with the suspension's spindle body).

#include <ChWheel.h>

Inheritance diagram for chrono::vehicle::ChWheel:
Collaboration diagram for chrono::vehicle::ChWheel:

Public Member Functions

 ChWheel (const std::string &name)
virtual double GetMass () const =0
 Get the wheel mass.
virtual ChVector GetInertia () const =0
 Get the wheel moments of inertia.
virtual double GetRadius () const
 Get the wheel radius (for visualization only).
virtual double GetWidth () const
 Get the wheel width (for visualization only).
virtual void Initialize (std::shared_ptr< ChBody > spindle)
 Initialize this wheel subsystem. More...
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the wheel subsystem. More...
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the wheel 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.

Protected Attributes

std::shared_ptr< ChBodym_spindle
 associated spindle body
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name

Constructor & Destructor Documentation

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

Member Function Documentation

void chrono::vehicle::ChWheel::AddVisualizationAssets ( VisualizationType  vis)

Add visualization assets for the wheel subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::Wheel.

void chrono::vehicle::ChWheel::Initialize ( std::shared_ptr< ChBody spindle)

Initialize this wheel subsystem.

The wheel mass and inertia are used to increment those of the spindle.

spindlehandle to the associated spindle body