chrono::vehicle Namespace Reference

Description

Namespace with classes for the VEHICLE module.

Namespaces

 TrackedCollisionFamily
 Enumerations for tracked vehicle collision families.
 
 TrackedCollisionFlag
 Enumerations for track collision flags.
 
 WheeledCollisionFamily
 Enumerations for wheeled vehicle collision families.
 

Classes

class  ChRigidChassis
 Template for a rigid-body chassis vehicle subsystem. More...
 
class  RigidChassis
 Vehicle rigid chassis model constructed with data from file(JSON format). More...
 
class  ChChassis
 Base class for the chassis vehicle subsystem. More...
 
class  ChDriver
 Base class for a vehicle driver system. More...
 
class  ChPart
 Base class for a vehicle subsystem. More...
 
class  ChPowertrain
 Base class for a powertrain system. More...
 
class  WheelID
 Class to encode the ID of a vehicle wheel. More...
 
struct  BodyState
 Structure to communicate a full body state. More...
 
struct  WheelState
 Structure to communicate a full wheel body state. More...
 
struct  TireForce
 Structure to communicate a set of generalized tire forces. More...
 
struct  TrackShoeForce
 Structure to communicate a set of generalized track shoe forces. More...
 
class  LinearSpringForce
 Utility class for specifying a linear translational spring force. More...
 
class  LinearDamperForce
 Utility class for specifying a linear translational damper force. More...
 
class  LinearSpringDamperForce
 Utility class for specifying a linear translational spring-damper force. More...
 
class  LinearSpringDamperActuatorForce
 Utility class for specifying a linear translational spring-damper force with pre-tension. More...
 
class  MapSpringForce
 Utility class for specifying a map translational spring force. More...
 
class  MapDamperForce
 Utility class for specifying a map translational damper force. More...
 
class  MapSpringDamperActuatorForce
 Utility class for specifying a map translational spring-damper force with pre-tension. More...
 
class  LinearSpringTorque
 Utility class for specifying a linear rotational spring torque. More...
 
class  LinearDamperTorque
 Utility class for specifying a linear rotational damper torque. More...
 
class  LinearSpringDamperTorque
 Utility class for specifying a linear rotational spring-damper torque. More...
 
class  LinearSpringDamperActuatorTorque
 Utility class for specifying a linear rotational spring-damper torque with pre-tension. More...
 
class  MapSpringTorque
 Utility class for specifying a map rotational spring torque. More...
 
class  MapDamperTorque
 Utility class for specifying a map rotational damper torque. More...
 
class  ChTerrain
 Base class for a terrain system. More...
 
class  ChVehicle
 Base class for chrono vehicle systems. More...
 
class  ChDataDriver
 Driver inputs from data file. More...
 
class  ChIrrGuiDriver
 Interactive driver model using keyboard inputs. More...
 
class  ChPathFollowerACCDriver
 Closed-loop path-follower driver model. More...
 
class  ChPathFollowerDriver
 Closed-loop path-follower driver model. More...
 
class  ChShaftsPowertrain
 Template for a powertrain model using shaft elements. More...
 
class  ChSimplePowertrain
 Template for simplified powertrain model. More...
 
class  DeformableTerrain
 Deformable terrain model. More...
 
class  DeformableSoil
 This class implements a terrain with variable heightmap, but differently from RigidTerrain, the vertical coordinates of this terrain mesh can be deformed because of vertical interaction with wheeled vehicles. More...
 
class  FEADeformableTerrain
 FEA Deformable terrain model. More...
 
class  FlatTerrain
 Concrete class for a flat horizontal terrain. More...
 
class  RigidTerrain
 Rigid terrain model. More...
 
class  ChTrackBrakeSimple
 Simple brake created with constant torque opposing sprocket rotation. More...
 
class  TrackBrakeSimple
 Tracked vehicle simple brake model constructed with data from file (JSON format). More...
 
class  ChIdler
 Base class for an idler subsystem. More...
 
class  ChRoadWheel
 Base class for a road wheel subsystem. More...
 
class  ChRoadWheelAssembly
 Base class for tracked vehicle suspension (road-wheel assembly) subsystem. More...
 
class  ChRoller
 Base class for a roller wheel subsystem. More...
 
class  ChSprocket
 Base class for a tracked vehicle sprocket. More...
 
class  ChTrackAssembly
 Definition of a track assembly. More...
 
class  ChTrackBrake
 Base class for a tracked vehicle brake subsystem. More...
 
struct  ChTrackContactInfo
 Contact information data structure. More...
 
class  ChTrackContactManager
 Class for monitoring contacts of tracked vehicle subsystems. More...
 
class  ChTrackDriveline
 Base class for a tracked vehicle driveline. More...
 
class  ChTrackedVehicle
 Base class for chrono tracked vehicle systems. More...
 
class  ChTrackShoe
 Base class for a track shoe. More...
 
class  ChSimpleTrackDriveline
 Simple driveline model for a tracked vehicle. More...
 
class  ChTrackDrivelineBDS
 Track driveline model template based on ChShaft objects. More...
 
class  SimpleTrackDriveline
 Simple tracked vehicle driveline model template using data from file (JSON format). More...
 
class  ChDoubleIdler
 Base class for a double idler (template definition). More...
 
class  ChSingleIdler
 Base class for a single idler (template definition). More...
 
class  DoubleIdler
 Double idler model constructed with data from file (JSON format). More...
 
class  SingleIdler
 Single idler model constructed with data from file (JSON format). More...
 
class  ChDoubleRoadWheel
 Base class for a double road wheel (template definition). More...
 
class  ChSingleRoadWheel
 Base class for a single road wheel (template definition). More...
 
class  DoubleRoadWheel
 Double road-wheel model constructed with data from file (JSON format). More...
 
class  SingleRoadWheel
 Single road-wheel model constructed with data from file (JSON format). More...
 
class  ChDoubleRoller
 Base class for a double roller (template definition). More...
 
class  DoubleRoller
 Double roller model constructed with data from file (JSON format). More...
 
class  ChSprocketDoublePin
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketSinglePin
 Base class for a sprocket template with gear profile composed of circular arcs. More...
 
class  SprocketDoublePin
 Tracked vehicle double-pin sprocket model constructed with data from file (JSON format). More...
 
class  SprocketSinglePin
 Tracked vehicle single-pin sprocket model constructed with data from file (JSON format). More...
 
class  ChLinearDamperRWAssembly
 Base class for a torsion-bar suspension system using linear dampers (template definition). More...
 
class  ChRotationalDamperRWAssembly
 Base class for a torsion-bar suspension system using a rotational damper (template definition). More...
 
class  LinearDamperRWAssembly
 Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...
 
class  RotationalDamperRWAssembly
 Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...
 
class  ChTrackAssemblyDoublePin
 Definition of a double-pin track assembly. More...
 
class  ChTrackAssemblySinglePin
 Definition of a single-pin track assembly. More...
 
class  TrackAssemblyDoublePin
 Double-pin track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblySinglePin
 Single-pin track assembly model constructed from a JSON specification file. More...
 
class  ChTrackShoeDoublePin
 Base class for a double-pin track shoe (template definition). More...
 
class  ChTrackShoeSinglePin
 Base class for a single-pin track shoe (template definition). More...
 
class  TrackShoeDoublePin
 Double-pin track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeSinglePin
 Single-pin track shoe with central guide constructed with data from file (JSON format). More...
 
class  ChIrrGuiDriverTTR
 Irrlicht-based GUI driver for the a track test rig. More...
 
class  ChTrackedVehicleIrrApp
 Customized Chrono Irrlicht application for tracked vehicle visualization. More...
 
class  ChTrackTestRig
 Definition of a suspension test rig. More...
 
class  TrackedVehicle
 Tracked vehicle model constructed from a JSON specification file. More...
 
class  ChAdaptiveSpeedController
 Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
 
class  ChSpeedController
 Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
 
class  ChSteeringController
 Base class for all steering path-following PID controllers. More...
 
class  ChPathSteeringController
 Concrete path-following steering PID controller. More...
 
class  ChVehicleIrrApp
 custom event receiver for chase-cam control More...
 
class  AntirollBarRSD
 RSD antirollbar model constructed with data from file (JSON format). More...
 
class  ChAntirollBarRSD
 Template for an anti-roll subsystem using an RSD. More...
 
class  BrakeSimple
 Vehicle simple brake model constructed with data from file (JSON format). More...
 
class  ChBrakeSimple
 Template for a simple brake subsystem. More...
 
class  ChAntirollBar
 Base class for an anti-roll bar subsystem. More...
 
class  ChBrake
 Base class for a brake subsystem. More...
 
class  ChDriveline
 Base class for a driveline subsystem. More...
 
class  ChSteering
 Base class for a steering subsystem. More...
 
class  ChSuspension
 Base class for a suspension subsystem. More...
 
class  ChTire
 Base class for a tire system. More...
 
class  ChWheel
 Base class for a vehicle wheel subsystem. More...
 
class  ChWheeledVehicle
 Base class for chrono wheeled vehicle systems. More...
 
class  ChShaftsDriveline2WD
 2WD driveline model template based on ChShaft objects. More...
 
class  ChShaftsDriveline4WD
 4WD driveline model template based on ChShaft objects. More...
 
class  ChSimpleDriveline
 Simple driveline model. More...
 
class  ShaftsDriveline2WD
 2WD driveline model template based on ChShaft objects using data from file (JSON format). More...
 
class  ShaftsDriveline4WD
 4WD driveline model template based on ChShaft objects using data from file (JSON format). More...
 
class  SimpleDriveline
 Simple driveline model template using data from file (JSON format). More...
 
class  ChPitmanArm
 Base class for a Pitman Arm steering subsystem. More...
 
class  ChRackPinion
 Base class for a Rack-Pinion steering subsystem. More...
 
class  PitmanArm
 Pitman arm steering model constructed with data from file (JSON format). More...
 
class  RackPinion
 Rack-pinion steering model constructed with data from file (JSON format). More...
 
class  ChDoubleWishbone
 Base class for a double-A arm suspension modeled with bodies and constraints. More...
 
class  ChDoubleWishboneReduced
 Base class for a double-A arm suspension modeled with distance constraints. More...
 
class  ChHendricksonPRIMAXX
 Base class for a Hendrickson PRIMAXX EX suspension. More...
 
class  ChMacPhersonStrut
 Base class for a MacPherson strut modeled with bodies and constraints. More...
 
class  ChMultiLink
 Base class for a multi-link suspension modeled with bodies and constraints. More...
 
class  ChRigidSuspension
 Base class for a rigid suspension, i.e. More...
 
class  ChSemiTrailingArm
 Base class for a semi-trailing arm suspension (non-steerable). More...
 
class  ChSolidAxle
 Base class for a solid axle suspension modeled with bodies and constraints. More...
 
class  ChThreeLinkIRS
 Base class for a 3-link independent rear suspension (non-steerable). More...
 
class  DoubleWishbone
 Double-A arm suspension constructed with data from file. More...
 
class  DoubleWishboneReduced
 Reduced double-A arm suspension constructed with data from file. More...
 
class  HendricksonPRIMAXX
 Hendrickson PRIMAXX suspension constructed with data from file. More...
 
class  MacPhersonStrut
 MacPherson strut suspension constructed with data from file. More...
 
class  MultiLink
 Multi-link suspension constructed with data from file. More...
 
class  SemiTrailingArm
 Semi-trailing arm suspension constructed with data from file. More...
 
class  SolidAxle
 Solid axle suspension constructed with data from file. More...
 
class  ThreeLinkIRS
 Three-link Independent Rear Suspension constructed with data from file. More...
 
class  ChDataDriverSTR
 Driver inputs for a suspension test rig from data file. More...
 
class  ChDriverSTR
 Base class for a suspension test rig driver system. More...
 
class  ChIrrGuiDriverSTR
 Irrlicht-based GUI driver for the a suspension test rig. More...
 
class  ChSuspensionTestRig
 Definition of a suspension test rig. More...
 
class  ANCFTire
 ANCF tire constructed with data from file (JSON format). More...
 
class  ChANCFTire
 ANCF tire template. More...
 
class  ChDeformableTire
 Base class for a deformable tire model. More...
 
class  ChFEATire
 Co-rotational FEA tire template. More...
 
class  ChFialaTire
 Fiala based tire model. More...
 
class  ChLugreTire
 Tire model based on LuGre friction model. More...
 
class  ChPacejkaTire
 Concrete tire class that implements the Pacejka tire model. More...
 
class  ChReissnerTire
 Tire template for tires based on Reissner shells This tire is modeled as a mesh composed of Reissner-Mindlin 4 nodes shell elements. More...
 
class  ChRigidTire
 Rigid tire model. More...
 
class  FEATire
 ANCF tire constructed with data from file (JSON format). More...
 
class  FialaTire
 Fiala tire constructed with data from file (JSON format). More...
 
class  LugreTire
 LuGre tire constructed with data from file (JSON format). More...
 
class  ReissnerTire
 Tire with Reissner shells, constructed with data from file (JSON format). More...
 
class  RigidTire
 Rigid tire constructed with data from file (JSON format). More...
 
class  ChDriverInputsCallback
 Callback class for specifying driver inputs at a specified time. More...
 
class  ChTireContactCallback
 Callback class for specifying tire contact geometry. More...
 
class  ChChassisContactCallback
 Callback class for specifying chassis contact geometry. More...
 
class  ChWheeledVehicleAssembly
 Wrapper class for a Chrono::Vehicle vehicle and powertrain assembly. More...
 
class  ChWheeledVehicleIrrApp
 Customized Chrono Irrlicht application for wheeled vehicle visualization. More...
 
class  WheeledVehicle
 Wheeled vehicle model constructed from a JSON specification file. More...
 
class  Wheel
 Vehicle wheel constructed with data from file (JSON format). More...
 

Typedefs

typedef std::vector< BodyStateBodyStates
 Vector of body state structures.
 
typedef std::vector< WheelStateWheelStates
 Vector of wheel state structures.
 
typedef std::vector< TireForceTireForces
 Vector of tire force structures.
 
typedef std::vector
< TrackShoeForce
TrackShoeForces
 Vector of tire force structures.
 
typedef std::vector
< std::shared_ptr
< ChRoadWheelAssembly > > 
ChRoadWheelAssemblyList
 Vector of handles to road wheel assembly subsystems.
 
typedef std::vector
< std::shared_ptr< ChRoller > > 
ChRollerList
 Vector of handles to roller subsystems.
 
typedef std::vector
< std::shared_ptr< ChSprocket > > 
ChSprocketList
 Vector of handles to sprocket subsystems.
 
typedef std::vector
< std::shared_ptr
< ChTrackBrake > > 
ChTrackBrakeList
 Vector of handles to brake subsystems.
 
typedef std::vector
< std::shared_ptr< ChTrackShoe > > 
ChTrackShoeList
 Vector of handles to track shoe subsystems.
 
typedef std::vector
< std::shared_ptr
< ChTrackShoeDoublePin > > 
ChTrackShoeDoublePinList
 Vector of handles to double-pin track shoe subsystems.
 
typedef std::vector
< std::shared_ptr
< ChTrackShoeSinglePin > > 
ChTrackShoeSinglePinList
 Vector of handles to single-pin track shoe subsystems.
 
typedef std::vector
< std::shared_ptr
< ChAntirollBar > > 
ChAntirollbarList
 Vector of handles to antirollbar subsystems.
 
typedef std::vector
< std::shared_ptr< ChBrake > > 
ChBrakeList
 Vector of handles to brake subsystems.
 
typedef std::vector
< std::shared_ptr< ChSteering > > 
ChSteeringList
 Vector of handles to steering subsystems.
 
typedef std::vector
< std::shared_ptr
< ChSuspension > > 
ChSuspensionList
 Vector of handles to suspension subsystems.
 
typedef std::vector
< std::shared_ptr< ChTire > > 
ChTireList
 Vector of handles to tire subsystems.
 
typedef std::vector
< std::shared_ptr< ChWheel > > 
ChWheelList
 Vector of handles to wheel subsystems.
 

Enumerations

enum  ChassisCollisionType { ChassisCollisionType::NONE, ChassisCollisionType::PRIMITIVES, ChassisCollisionType::MESH }
 
enum  VehicleSide { LEFT = 0, RIGHT = 1 }
 Enum for the side (left/right) of a vehicle. More...
 
enum  VisualizationType { VisualizationType::NONE, VisualizationType::PRIMITIVES, VisualizationType::MESH }
 Enum for visualization types. More...
 
enum  TireModelType {
  TireModelType::RIGID, TireModelType::RIGID_MESH, TireModelType::PACEJKA, TireModelType::LUGRE,
  TireModelType::FIALA, TireModelType::ANCF, TireModelType::REISSNER, TireModelType::FEA
}
 Enum for available tire models. More...
 
enum  PowertrainModelType { PowertrainModelType::SHAFTS, PowertrainModelType::SIMPLE }
 Enum for available powertrain model templates. More...
 
enum  SuspensionType {
  SuspensionType::DOUBLE_WISHBONE, SuspensionType::DOUBLE_WISHBONE_REDUCED, SuspensionType::SOLID_AXLE, SuspensionType::MULTI_LINK,
  SuspensionType::HENDRICKSON_PRIMAXX, SuspensionType::MACPHERSON_STRUT
}
 Enum for available wheeled-vehicle suspension model templates. More...
 
enum  DrivelineType { DrivelineType::FWD, DrivelineType::RWD, DrivelineType::AWD, SIMPLE }
 Enum for drive types. More...
 
enum  TrackShoeType { TrackShoeType::SINGLE_PIN, TrackShoeType::DOUBLE_PIN }
 Enum for track shoe types. More...
 
enum  GuidePinType { GuidePinType::CENTRAL_PIN, GuidePinType::LATERAL_PIN }
 Enum for guide pin (track shoe/roadwheel/idler). More...
 
enum  OutputInformation { OUT_SPRINGS = 1 << 0, OUT_SHOCKS = 1 << 1, OUT_CONSTRAINTS = 1 << 2, OUT_TESTRIG = 1 << 3 }
 Flags for output (log/debug). More...
 

Functions

void SetDataPath (const std::string &path)
 Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).
 
const std::string & GetDataPath ()
 Get the current path to the Chrono::Vehicle data directory (thread safe).
 
std::string GetDataFile (const std::string &filename)
 Get the complete path to the specified filename (thread safe). More...
 
template<typename T >
int sgn (T val)
 
std::vector< std::string > & splitStr (const std::string &s, char delim, std::vector< std::string > &elems)
 
std::vector< std::string > splitStr (const std::string &s, char delim)
 
template<class T >
fromString (const std::string &s)
 
template<class T >
fromTline (const std::string &tline)
 
void AttachNodeToShell (std::shared_ptr< ChMesh > m_mesh, std::shared_ptr< ChNodeFEAxyz > m_node)
 

Enumeration Type Documentation

Enumerator
NONE 

no contact shapes

PRIMITIVES 

contact model composed of primitives

MESH 

contact model composed of convex hulls