Description

Definition of the HMMWV assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a HMMWV, the powertrain model, and the 4 tires. It provides wrappers to access the different systems and subsystems, functions for specifying the driveline, powertrain, and tire types, as well as functions for controlling the visualization mode of each component. Note that this is an abstract class which cannot be instantiated. Instead, use one of the concrete classes HMMWV_Full or HMMWV_Reduced.

#include <HMMWV.h>

Inheritance diagram for chrono::vehicle::hmmwv::HMMWV:
Collaboration diagram for chrono::vehicle::hmmwv::HMMWV:

Public Member Functions

void SetContactMethod (ChMaterialSurface::ContactMethod val)
 
void SetChassisFixed (bool val)
 
void SetChassisCollisionType (ChassisCollisionType val)
 
void SetDriveType (DrivelineType val)
 
void SetPowertrainType (PowertrainModelType val)
 
void SetTireType (TireModelType val)
 
void SetInitPosition (const ChCoordsys<> &pos)
 
void SetInitFwdVel (double fwdVel)
 
void SetInitWheelAngVel (const std::vector< double > &omega)
 
void SetTireStepSize (double step_size)
 
void SetPacejkaParamfile (const std::string &filename)
 
ChSystemGetSystem () const
 
ChWheeledVehicleGetVehicle () const
 
std::shared_ptr< ChChassisGetChassis () const
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 
ChPowertrainGetPowertrain () const
 
ChTireGetTire (WheelID which) const
 
void Initialize ()
 
void SetChassisVisualizationType (VisualizationType vis)
 
void SetSuspensionVisualizationType (VisualizationType vis)
 
void SetSteeringVisualizationType (VisualizationType vis)
 
void SetWheelVisualizationType (VisualizationType vis)
 
void SetTireVisualizationType (VisualizationType vis)
 
void Synchronize (double time, double steering_input, double braking_input, double throttle_input, const ChTerrain &terrain)
 
void Advance (double step)
 

Protected Member Functions

 HMMWV (ChSystem *system)
 
virtual HMMWV_VehicleCreateVehicle ()=0
 

Protected Attributes

ChMaterialSurface::ContactMethod m_contactMethod
 
ChassisCollisionType m_chassisCollisionType
 
bool m_fixed
 
DrivelineType m_driveType
 
PowertrainModelType m_powertrainType
 
TireModelType m_tireType
 
double m_tire_step_size
 
std::string m_pacejkaParamFile
 
ChCoordsys m_initPos
 
double m_initFwdVel
 
std::vector< double > m_initOmega
 
ChSystemm_system
 
HMMWV_Vehiclem_vehicle
 
ChPowertrainm_powertrain
 
std::array< ChTire *, 4 > m_tires