chrono::vehicle::SemiTrailingArm Class Reference

Description

Semi-trailing arm suspension constructed with data from file.

#include <SemiTrailingArm.h>

Inheritance diagram for chrono::vehicle::SemiTrailingArm:
Collaboration diagram for chrono::vehicle::SemiTrailingArm:

Public Member Functions

 SemiTrailingArm (const std::string &filename)
 
 SemiTrailingArm (const rapidjson::Document &d)
 
virtual double getSpindleMass () const override
 Return the mass of the spindle body.
 
virtual double getArmMass () const override
 Return the mass of the trailing arm 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 getArmRadius () const override
 Return the radius of the trailing arm body (visualization only).
 
virtual const ChVectorgetSpindleInertia () const override
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetArmInertia () const override
 Return the moments of inertia of the trailing arm 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
ChLinkSpringCB::ForceFunctor
getSpringForceFunctor () const override
 Return the functor object for spring force.
 
virtual
ChLinkSpringCB::ForceFunctor
getShockForceFunctor () const override
 Return the functor object for shock force.
 
- Public Member Functions inherited from chrono::vehicle::ChSemiTrailingArm
 ChSemiTrailingArm (const std::string &name)
 
virtual bool IsSteerable () const finaloverride
 Specify whether or not this suspension can be steered.
 
virtual bool IsIndependent () const finaloverride
 Specify whether or not this is an independent suspension.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, std::shared_ptr< ChBody > tierod_body, double left_ang_vel=0, double right_ang_vel=0) override
 Initialize this suspension subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the suspension subsystem.
 
virtual double GetMass () const override
 Get the total mass of the suspension subsystem.
 
std::shared_ptr< ChLinkSpringCBGetSpring (VehicleSide side) const
 Get a handle to the specified spring element.
 
double GetSpringForce (VehicleSide side) const
 Get the force in the spring element.
 
double GetSpringLength (VehicleSide side) const
 Get the current length of the spring element.
 
double GetSpringDeformation (VehicleSide side) const
 Get the current deformation of the spring element.
 
std::shared_ptr< ChLinkSpringCBGetShock (VehicleSide side) const
 Get a handle to the specified shock (damper) element.
 
double GetShockForce (VehicleSide side) const
 Get the force in the shock (damper) element.
 
double GetShockLength (VehicleSide side) const
 Get the current length of the shock (damper) element.
 
double GetShockVelocity (VehicleSide side) const
 Get the current deformation velocity of the shock (damper) element.
 
virtual void LogConstraintViolations (VehicleSide side) override
 Log current constraint violations.
 
virtual std::shared_ptr< ChBodyGetLeftBody () const override
 Specify the left body for a possible antirollbar subsystem. More...
 
virtual std::shared_ptr< ChBodyGetRightBody () const override
 Specify the right body for a possible antirollbar subsystem. More...
 
void LogHardpointLocations (const ChVector<> &ref, bool inches=false)
 Log the locations of all hardpoints. More...
 
- 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.
 
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::ChSemiTrailingArm
enum  PointId {
  SPINDLE, TA_CM, TA_O, TA_I,
  TA_S, SHOCK_C, SHOCK_A, SPRING_C,
  SPRING_A, NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
- Protected Attributes inherited from chrono::vehicle::ChSemiTrailingArm
std::shared_ptr< ChBodym_arm [2]
 handles to the trailing arm bodies (left/right)
 
std::shared_ptr
< ChLinkLockRevolute
m_revoluteArm [2]
 handles to the chassis-arm revolute joints (left/right)
 
std::shared_ptr< ChLinkSpringCBm_shock [2]
 handles to the spring links (left/right)
 
std::shared_ptr< ChLinkSpringCBm_spring [2]
 handles to the shock links (left/right)
 
- 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
 
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