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.
 

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
 

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.