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 ChVectorgetSteeringLinkInertiaMoments () const override
 Return the moments of inertia of the steering link body.
 
virtual const ChVectorgetSteeringLinkInertiaProducts () const override
 Return the products of inertia of the steering link body.
 
virtual const ChVectorgetPitmanArmInertiaMoments () const override
 Return the moments of inertia of the Pitman arm body.
 
virtual const ChVectorgetPitmanArmInertiaProducts () const override
 Return the products 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
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)
 
const ChCoordsysGetPosition () const
 Get the position (location and orientation) of the steering subsystem relative to the chassis reference frame. More...
 
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 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.
 

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...
 
- 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 Member Functions inherited from chrono::vehicle::ChPitmanArm
 ChPitmanArm (const std::string &name, bool vehicle_frame_inertia=false)
 Protected constructor. More...
 
void SetVehicleFrameInertiaFlag (bool val)
 Indicate whether or not inertia matrices are specified with respect to a vehicle-aligned centroidal frame (flag=true) or with respect to the body centroidal frame (flag=false). 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< ChLinkRevoluteSphericalm_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
ChCoordsys m_position
 location and orientation relative to chassis
 
std::shared_ptr< ChBodym_link
 handle to the main steering link
 
- 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
 

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.