chrono::vehicle::LugreTire Class Reference

Description

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

#include <LugreTire.h>

Inheritance diagram for chrono::vehicle::LugreTire:
Collaboration diagram for chrono::vehicle::LugreTire:

Public Member Functions

 LugreTire (const std::string &filename)
 
 LugreTire (const rapidjson::Document &d)
 
virtual double GetRadius () const override
 Get the tire radius.
 
virtual int GetNumDiscs () const override
 Return the number of discs used to model this tire.
 
virtual const double * GetDiscLocations () const override
 Return the laterla disc locations. More...
 
virtual double GetNormalStiffness () const override
 Return the vertical tire stiffness (for normal force calculation).
 
virtual double GetNormalDamping () const override
 Return the vertical tire damping coefficient (for normal force calculation).
 
virtual void SetLugreParams () override
 Set the parameters in the LuGre friction model.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 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::ChLugreTire
 ChLugreTire (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChBody > wheel, VehicleSide side) override
 Initialize this tire system and enable visualization of the discs. More...
 
double GetWidth () const
 Get the tire width. More...
 
virtual TireForce GetTireForce (bool cosim=false) const override
 Get the tire force and moment. More...
 
virtual void Synchronize (double time, const WheelState &wheel_state, const ChTerrain &terrain) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics.
 
double GetStepsize () const
 Get the current value of the integration step size.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
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

- 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::ChLugreTire
double m_sigma0 [2]
 Lugre friction model parameters (longitudinal/lateral)
 
double m_sigma1 [2]
 
double m_sigma2 [2]
 
double m_Fc [2]
 
double m_Fs [2]
 
double m_vs [2]
 Stribeck velocity.
 
- 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

virtual const double* chrono::vehicle::LugreTire::GetDiscLocations ( ) const
overridevirtual

Return the laterla disc locations.

These locations are relative to the tire center.

Implements chrono::vehicle::ChLugreTire.