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 subsystem.
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for 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_spindle
 associated spindle body
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
- 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

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...

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, and chrono::vehicle::hmmwv::HMMWV_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