chrono::vehicle::FEATire Class Reference

Description

ANCF tire constructed with data from file (JSON format).

#include <FEATire.h>

Inheritance diagram for chrono::vehicle::FEATire:
Collaboration diagram for chrono::vehicle::FEATire:

Public Member Functions

 FEATire (const std::string &filename)
 
 FEATire (const rapidjson::Document &d)
 
virtual double GetRadius () const override
 Get the tire radius.
 
virtual double GetRimRadius () const override
 Get the rim radius (inner tire radius).
 
virtual double GetWidth () const override
 Get the tire width.
 
virtual double GetDefaultPressure () const override
 Get the default tire pressure.
 
virtual std::vector
< std::shared_ptr
< fea::ChNodeFEAbase > > 
GetInternalNodes () const override
 Return list of internal nodes. More...
 
virtual std::vector
< std::shared_ptr
< fea::ChNodeFEAbase > > 
GetConnectedNodes () const override
 Return list of nodes connected to the rim.
 
virtual void CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side) override
 Create the FEA nodes and elements. More...
 
- Public Member Functions inherited from chrono::vehicle::ChFEATire
 ChFEATire (const std::string &name)
 
- Public Member Functions inherited from chrono::vehicle::ChDeformableTire
 ChDeformableTire (const std::string &name)
 Construct a deformable tire with the specified name. More...
 
void SetContactSurfaceType (ContactSurfaceType type)
 Set the type of contact surface.
 
ContactSurfaceType GetContactSurfaceType () const
 
void SetContactNodeRadius (double radius)
 Set radius of contact nodes. More...
 
double GetContactNodeRadius () const
 
void SetContactFaceThickness (double thickness)
 Set thickness of contact faces (radius of swept sphere). More...
 
double GetContactFaceThickness () const
 
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.
 
std::shared_ptr
< ChMaterialSurfaceDEM
GetContactMaterial () const
 Get the tire contact material. More...
 
void EnablePressure (bool val)
 Enable/disable tire pressure (default: true).
 
bool IsPressureEnabled () const
 
void EnableContact (bool val)
 Enable/disable tire contact (default: true).
 
bool IsContactEnabled () const
 
void EnableRimConnection (bool val)
 Enable/disable tire-rim connection (default: true).
 
bool IsRimConnectionEnabled () const
 
fea::ChVisualizationFEAmesh *const GetMeshVisualization () const
 Get a handle to the mesh visualization.
 
std::shared_ptr< fea::ChMeshGetMesh () const
 Get the underlying FEA mesh.
 
std::shared_ptr
< fea::ChContactSurface
GetContactSurface () const
 Get the mesh contact surface. More...
 
std::shared_ptr< ChLoadContainerGetLoadContainer () const
 Get the load container associated with this tire.
 
void SetPressure (double pressure)
 Set the tire pressure.
 
double GetMass () const
 Get total tire mass.
 
virtual TireForce GetTireForce (bool cosim=false) const override
 Get the tire force and moment. More...
 
virtual void Initialize (std::shared_ptr< ChBody > wheel, VehicleSide side) override
 Initialize this tire system. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) overridefinal
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the rigid tire subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
virtual void Synchronize (double time, const WheelState &wheel_state, const ChTerrain &terrain)
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this tire by the specified time step.
 
virtual double GetSlipAngle () const
 Get the tire slip angle. More...
 
virtual double GetLongitudinalSlip () const
 Get the tire longitudinal slip. More...
 
virtual double GetCamberAngle () const
 Get the tire camber angle. More...
 
- 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.
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChDeformableTire
enum  ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
 Type of the mesh contact surface.
 
- Protected Member Functions inherited from chrono::vehicle::ChFEATire
virtual void CreatePressureLoad () overridefinal
 Create the ChLoad for applying pressure to the tire.
 
virtual void CreateContactSurface () overridefinal
 Create the contact surface for the tire mesh.
 
virtual void CreateRimConnections (std::shared_ptr< ChBody > wheel) overridefinal
 Create the tire-rim connections.
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool disc_terrain_contact (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 
- Protected Attributes inherited from chrono::vehicle::ChDeformableTire
std::shared_ptr< fea::ChMeshm_mesh
 tire mesh
 
std::shared_ptr< ChLoadContainerm_load_container
 load container (for pressure load)
 
std::vector< std::shared_ptr
< fea::ChLinkPointFrame > > 
m_connections
 tire-wheel point connections
 
std::vector< std::shared_ptr
< fea::ChLinkDirFrame > > 
m_connectionsD
 tire-wheel direction connections
 
std::vector< std::shared_ptr
< ChLinkMateFix > > 
m_connectionsF
 tire-wheel fix connection (point+rotation)
 
bool m_connection_enabled
 enable tire connections to rim
 
bool m_pressure_enabled
 enable internal tire pressure
 
bool m_contact_enabled
 enable tire-terrain contact
 
double m_pressure
 internal tire pressure
 
ContactSurfaceType m_contact_type
 type of contact surface model (node cloud or mesh)
 
double m_contact_node_radius
 node radius (for node cloud contact surface)
 
double m_contact_face_thickness
 face thickness (for mesh contact surface)
 
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
 
std::shared_ptr
< ChMaterialSurfaceDEM
m_contact_mat
 tire contact material
 
std::shared_ptr
< fea::ChVisualizationFEAmesh
m_visualization
 tire mesh visualization
 
- Protected Attributes inherited from chrono::vehicle::ChTire
VehicleSide m_side
 tire mounted on left/right side
 
std::shared_ptr< ChBodym_wheel
 associated wheel body
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Member Function Documentation

void chrono::vehicle::FEATire::CreateMesh ( const ChFrameMoving<> &  wheel_frame,
VehicleSide  side 
)
overridevirtual

Create the FEA nodes and elements.

The wheel rotational axis is assumed to be the Y axis.

Parameters
wheel_frameframe of associated wheel
sideleft/right vehicle side

Implements chrono::vehicle::ChDeformableTire.

std::vector< std::shared_ptr< ChNodeFEAbase > > chrono::vehicle::FEATire::GetInternalNodes ( ) const
overridevirtual

Return list of internal nodes.

These nodes define the mesh surface over which pressure loads are applied.

Implements chrono::vehicle::ChFEATire.