chrono::vehicle::RigidTire Class Reference

Description

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

#include <RigidTire.h>

Inheritance diagram for chrono::vehicle::RigidTire:
Collaboration diagram for chrono::vehicle::RigidTire:

Public Member Functions

 RigidTire (const std::string &filename)
 
 RigidTire (const rapidjson::Document &d)
 
virtual double GetRadius () const override
 Get the tire radius.
 
virtual double GetWidth () const override
 Get the tire width.
 
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::ChRigidTire
 ChRigidTire (const std::string &name)
 
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...
 
void SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0)
 Set Wavefront OBJ file for contact mesh. More...
 
bool UseContactMesh () const
 Check whether or not this tire uses a contact mesh.
 
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...
 
unsigned int GetNumVertices () const
 Return the number of vertices in the contact mesh.
 
unsigned int GetNumTriangles () const
 Return the number of faces in the contact mesh.
 
const std::vector< ChVector
< int > > & 
GetMeshConnectivity () const
 Get the contact mesh connectivity.
 
const std::vector< ChVector<> > & GetMeshVertices () const
 Get the contact mesh vertices (in local frame).
 
const std::vector< ChVector<> > & GetMeshNormals () const
 Get the contact mesh vertex normals (in local frame).
 
void GetMeshVertexStates (std::vector< ChVector<>> &pos, std::vector< ChVector<>> &vel) const
 Get the current state of the collision mesh. More...
 
- 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

- 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::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