chrono::vehicle::PitmanArm Class Reference

Description

Pitman arm steering model constructed with data from file (JSON format).

#include <PitmanArm.h>

Inheritance diagram for chrono::vehicle::PitmanArm:
Collaboration diagram for chrono::vehicle::PitmanArm:

Public Member Functions

 PitmanArm (const std::string &filename)
 
 PitmanArm (const rapidjson::Document &d)
 
virtual double getSteeringLinkMass () const override
 Return the mass of the steering link body.
 
virtual double getPitmanArmMass () const override
 Return the mass of the Pitman arm body.
 
virtual double getSteeringLinkRadius () const override
 Return the radius of the steering link body (visualization only).
 
virtual double getPitmanArmRadius () const override
 Return the radius of the Pitman arm body (visualization only).
 
virtual const ChVectorgetSteeringLinkInertia () const override
 Return the moments of inertia of the steering link body.
 
virtual const ChVectorgetPitmanArmInertia () const override
 Return the moments of inertia of the Pitman arm body.
 
virtual double getMaxAngle () const override
 Return the maximum rotation angle of the revolute joint.
 
virtual const ChVector getLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual const ChVector getDirection (DirectionId which) override
 Return the unit vector for the specified direction. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPitmanArm
 ChPitmanArm (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this steering subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the steering subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the steering subsystem.
 
virtual void Synchronize (double time, double steering) override
 Update the state of this steering subsystem at the current time. More...
 
virtual double GetMass () const override
 Get the total mass of the steering subsystem.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChSteering
 ChSteering (const std::string &name)
 
std::shared_ptr< ChBodyGetSteeringLink () const
 Get a handle to the main link of the steering subsystems. 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

- Protected Types inherited from chrono::vehicle::ChPitmanArm
enum  PointId {
  STEERINGLINK, PITMANARM, REV, UNIV,
  REVSPH_R, REVSPH_S, TIEROD_PA, TIEROD_IA,
  NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
enum  DirectionId {
  REV_AXIS, UNIV_AXIS_ARM, UNIV_AXIS_LINK, REVSPH_AXIS,
  NUM_DIRS
}
 Identifiers for the various direction unit vectors. More...
 
- Protected Attributes inherited from chrono::vehicle::ChPitmanArm
std::shared_ptr< ChBodym_arm
 handle to the Pitman arm body
 
std::shared_ptr< ChLinkEnginem_revolute
 handle to the chassis-arm revolute joint
 
std::shared_ptr
< ChLinkRevoluteSpherical
m_revsph
 handle to the revolute-spherical joint (idler arm)
 
std::shared_ptr< ChLinkUniversalm_universal
 handle to the arm-link universal joint
 
- Protected Attributes inherited from chrono::vehicle::ChSteering
std::shared_ptr< ChBodym_link
 handle to the main steering link
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Member Function Documentation

virtual const ChVector chrono::vehicle::PitmanArm::getDirection ( DirectionId  which)
overridevirtual

Return the unit vector for the specified direction.

The returned vector must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChPitmanArm.

virtual const ChVector chrono::vehicle::PitmanArm::getLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the suspension reference frame.

Implements chrono::vehicle::ChPitmanArm.