chrono::vehicle::m113::M113_Chassis Class Reference

Description

M113 chassis subsystem.

#include <M113_Chassis.h>

Inheritance diagram for chrono::vehicle::m113::M113_Chassis:
Collaboration diagram for chrono::vehicle::m113::M113_Chassis:

Public Member Functions

 M113_Chassis (const std::string &name, bool fixed=false, ChassisCollisionType chassis_collision_type=ChassisCollisionType::NONE)
 
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...
 
- Public Member Functions inherited from chrono::vehicle::ChRigidChassis
 ChRigidChassis (const std::string &name, bool fixed=false)
 Construct a vehicle subsystem with the specified name. More...
 
bool HasCollision () const
 Specifies whether or not collision shapes were defined.
 
bool HasPrimitives () const
 Specifies whether or not visualization primitives were defined.
 
bool HasMesh () const
 Specifies whether or not a visualization mesh was defined.
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with chassis visualization mesh. More...
 
const std::string & GetMeshName () const
 Get the name of the chassis visualization mesh asset. More...
 
virtual void SetCollide (bool state) override
 Enable/disable contact for the chassis. More...
 
virtual void Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0) override
 Initialize the chassis at the specified global position and orientation. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove all visualization assets from this subsystem.
 
- 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...
 
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.
 
- 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.
 

Protected Attributes

ChMatrix33 m_inertia
 
- Protected Attributes inherited from chrono::vehicle::ChRigidChassis
bool m_has_collision
 
std::vector< BoxShape > m_coll_boxes
 
std::vector< SphereShape > m_coll_spheres
 
std::vector< CylinderShape > m_coll_cylinders
 
std::vector< std::string > m_coll_mesh_names
 
bool m_has_primitives
 
std::vector< BoxShape > m_vis_boxes
 
std::vector< SphereShape > m_vis_spheres
 
std::vector< CylinderShape > m_vis_cylinders
 
bool m_has_mesh
 
std::string m_vis_mesh_name
 
std::string m_vis_mesh_file
 
- 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
 
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
 

Static Protected Attributes

static const double m_mass = 5489.24
 
static const ChVector m_inertiaXX
 
static const ChVector m_inertiaXY
 
static const ChVector m_COM_loc
 
static const ChCoordsys m_driverCsys
 

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...
 

Member Function Documentation

virtual ChCoordsys chrono::vehicle::m113::M113_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.