chrono::vehicle::ThreeLinkIRS Class Reference

Description

Three-link Independent Rear Suspension constructed with data from file.

#include <ThreeLinkIRS.h>

Inheritance diagram for chrono::vehicle::ThreeLinkIRS:
Collaboration diagram for chrono::vehicle::ThreeLinkIRS:

Public Member Functions

 ThreeLinkIRS (const std::string &filename)
 
 ThreeLinkIRS (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 getUpperLinkMass () const override
 Return the mass of the upper link.
 
virtual double getLowerLinkMass () const override
 Return the mass of the lower link.
 
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 double getUpperLinkRadius () const override
 Return the radius of the upper link body (visualization only).
 
virtual double getLowerLinkRadius () const override
 Return the radius of the lower link 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. More...
 
virtual const ChVectorgetUpperLinkInertia () const override
 Return the moments of inertia of the upper link. More...
 
virtual const ChVectorgetLowerLinkInertia () const override
 Return the moments of inertia of the lower link. More...
 
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.
 
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

 Identifiers for the various hardpoints. More...
 Identifiers for various joint directions. 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
 
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::ThreeLinkIRS::getArmInertia ( ) const
overridevirtual

Return the moments of inertia of the trailing arm body.

The x direction is aligned with the arm.

Implements chrono::vehicle::ChThreeLinkIRS.

virtual const ChVector& chrono::vehicle::ThreeLinkIRS::getLowerLinkInertia ( ) const
overridevirtual

Return the moments of inertia of the lower link.

The x direction is aligned with the link.

Implements chrono::vehicle::ChThreeLinkIRS.

virtual const ChVector& chrono::vehicle::ThreeLinkIRS::getUpperLinkInertia ( ) const
overridevirtual

Return the moments of inertia of the upper link.

The x direction is aligned with the link.

Implements chrono::vehicle::ChThreeLinkIRS.