chrono::vehicle::hmmwv::HMMWV_Chassis Class Reference

Description

HMMWV chassis subsystem.

#include <HMMWV_Chassis.h>

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

Public Member Functions

 HMMWV_Chassis (const std::string &name, bool fixed=false)
 
virtual double GetMass () const override
 Return the mass of the chassis body.
 
virtual const ChMatrix33GetInertia () const override
 Return the inertia tensor of the chassis body.
 
virtual const ChVectorGetLocalPosCOM () const override
 Get the location of the center of mass in the chassis frame.
 
virtual ChCoordsys GetLocalDriverCoordsys () const override
 Get the local driver position and orientation. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization of the road wheel.
 
- Public Member Functions inherited from chrono::vehicle::ChChassis
 ChChassis (const std::string &name, bool fixed=false)
 Construct a vehicle subsystem with the specified name. More...
 
std::shared_ptr< ChBodyAuxRefGetBody () const
 Get a handle to the vehicle's chassis body.
 
const ChVectorGetPos () const
 Get the global location of the chassis reference frame origin.
 
const ChQuaternionGetRot () const
 Get the orientation of the chassis reference frame. More...
 
const ChVectorGetCOMPos () const
 Get the global location of the chassis center of mass.
 
const ChQuaternionGetCOMRot () const
 Get the orientation of the chassis centroidal frame. More...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
double GetSpeed () const
 Get the vehicle speed. More...
 
double GetCOMSpeed () const
 Get the speed of the chassis COM. More...
 
ChVector GetPointAcceleration (const ChVector<> &locpos) const
 Get the acceleration at the specified point. More...
 
virtual void Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel)
 Initialize the chassis at the specified global position and orientation. More...
 
void SetFixed (bool val)
 Set the "fixed to ground" status of the chassis body.
 
bool IsFixed () const
 Return true if the chassis body is fixed to ground.
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove all visualization assets from this subsystem.
 
- 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.
 

Protected Attributes

ChMatrix33 m_inertia
 
- Protected Attributes inherited from chrono::vehicle::ChChassis
std::shared_ptr< ChBodyAuxRefm_body
 handle to the chassis body
 
bool m_fixed
 is the chassis body fixed to ground?
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Static Protected Attributes

static const double m_mass = 2086.52
 
static const ChVector m_inertiaXX
 
static const ChVector m_inertiaXY
 
static const ChVector m_COM_loc
 
static const ChCoordsys m_driverCsys
 
static const std::string m_meshName = "hmmwv_chassis_POV_geom"
 
static const std::string m_meshFile = "hmmwv/hmmwv_chassis.obj"
 

Member Function Documentation

virtual ChCoordsys chrono::vehicle::hmmwv::HMMWV_Chassis::GetLocalDriverCoordsys ( ) const
overridevirtual

Get the local driver position and orientation.

This is a coordinate system relative to the chassis reference frame.

Implements chrono::vehicle::ChChassis.