chrono::vehicle::MultiLink Class Reference

Description

Multi-link suspension constructed with data from file.

#include <MultiLink.h>

Inheritance diagram for chrono::vehicle::MultiLink:
Collaboration diagram for chrono::vehicle::MultiLink:

Public Member Functions

 MultiLink (const std::string &filename)
 
 MultiLink (const rapidjson::Document &d)
 
virtual double getSpindleMass () const override
 Return the mass of the spindle body.
 
virtual double getUpperArmMass () const override
 Return the mass of the upper arm body.
 
virtual double getLateralMass () const override
 Return the mass of the lateral body.
 
virtual double getTrailingLinkMass () const override
 Return the mass of the trailing link body.
 
virtual double getUprightMass () const override
 Return the mass of the upright body.
 
virtual double getSpindleRadius () const override
 Return the radius of the spindle body (visualization only).
 
virtual double getSpindleWidth () const override
 Return the width of the spindle body (visualization only).
 
virtual double getUpperArmRadius () const override
 Return the radius of the upper arm body (visualization only).
 
virtual double getLateralRadius () const override
 Return the radius of the lateral body (visualization only).
 
virtual double getTrailingLinkRadius () const override
 Return the radius of the trailing link body (visualization only).
 
virtual double getUprightRadius () const override
 Return the radius of the upright body (visualization only).
 
virtual const ChVectorgetSpindleInertia () const override
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetUpperArmInertia () const override
 Return the moments of inertia of the upper arm body.
 
virtual const ChVectorgetLateralInertia () const override
 Return the moments of inertia of the lateral body.
 
virtual const ChVectorgetTrailingLinkInertia () const override
 Return the moments of inertia of the trailing link body.
 
virtual const ChVectorgetUprightInertia () const override
 Return the moments of inertia of the upright body.
 
virtual double getAxleInertia () const override
 Return the inertia of the axle shaft.
 
virtual double getSpringRestLength () const override
 Return the free (rest) length of the spring element.
 
virtual ChSpringForceCallbackgetSpringForceCallback () const override
 Return the callback function for spring force.
 
virtual ChSpringForceCallbackgetShockForceCallback () const override
 Return the callback function for shock force.
 
- Public Member Functions inherited from chrono::vehicle::ChSuspension
 ChSuspension (const std::string &name)
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr
< ChLinkLockRevolute
GetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the spindle on the specified side.
 
const ChQuaternionGetSpindleRot (VehicleSide side) const
 Get the orientation of the spindle body on the specified side. More...
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the spindle body on the specified side. More...
 
double GetAxleSpeed (VehicleSide side) const
 Get the angular speed of the axle on the specified side.
 
void Synchronize (VehicleSide side, const TireForce &tire_force)
 Update the suspension subsystem: apply the provided tire forces. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. 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

 Identifiers for the various hardpoints. More...
 Identifiers for the various vectors. More...
- Protected Attributes inherited from chrono::vehicle::ChSuspension
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr
< ChLinkLockRevolute
m_revolute [2]
 handles to spindle revolute joints
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name