chrono::vehicle::Balancer Class Reference
Description
Balancer subchassis system constructed with data from file.
#include <Balancer.h>
Inheritance diagram for chrono::vehicle::Balancer:
Collaboration diagram for chrono::vehicle::Balancer:
Public Member Functions | |
| Balancer (const std::string &filename) | |
| Balancer (const rapidjson::Document &d) | |
| virtual double | GetBalancerBeamMass () const override |
| Get the balancer mass. | |
| virtual const ChVector3d & | GetBalancerBeamInertia () const override |
| Get the inertia tensor of the chassis body. | |
| virtual const double | GetBalancerMaxPitch () const override |
| Get the rear balancer min/max pitch. More... | |
| virtual const ChVector3d & | GetBalancerBeamDimensions () const override |
| Get balancer dimensions (for visualization). | |
| virtual std::shared_ptr< ChJoint::BushingData > | GetBushingData () const override |
| Return stiffness and damping data for the balancer bushing. More... | |
 Public Member Functions inherited from chrono::vehicle::ChBalancer | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual void | Construct (std::shared_ptr< ChChassis > chassis, const ChVector3d &location) override |
| Construct the balancer subchassis subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the balancer subsystem. | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the balancer subsystem. | |
| Public Member Functions inherited from chrono::vehicle::ChSubchassis | |
| const ChVector3d & | GetLocation () const |
| Get the location of the subchassis relative to the chassis reference frame. More... | |
| std::shared_ptr< ChBody > | GetBeam (VehicleSide side) const |
| Get a handle to the beam body on the specified side. | |
| void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location) |
| Initialize this subchassis subsystem. More... | |
| Public Member Functions inherited from chrono::vehicle::ChPart | |
| const std::string & | GetName () const |
| Get the name identifier for this subsystem. | |
| void | SetName (const std::string &name) |
| Set the name identifier for this subsystem. | |
| bool | IsInitialized () const |
| Return flag indicating whether or not the part is fully constructed. | |
| virtual uint16_t | GetVehicleTag () const |
| Get the tag of the associated vehicle. More... | |
| int | GetBodyTag () const |
| Get the tag for component bodies. | |
| double | GetMass () const |
| Get the subsystem mass. More... | |
| const ChFrame & | GetCOMFrame () const |
| Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More... | |
| const ChMatrix33 & | GetInertia () const |
| Get the current subsystem inertia (relative to the subsystem COM frame). More... | |
| const ChFrame & | GetTransform () const |
| Get the current subsystem position relative to the global frame. More... | |
| void | SetVisualizationType (VisualizationType vis) |
| Set the visualization mode for this subsystem. | |
| virtual void | SetOutput (bool state) |
| Enable/disable output for this subsystem. | |
| bool | OutputEnabled () const |
| Return the output state for this subsystem. | |
Additional Inherited Members | |
| Static Public Member Functions inherited from chrono::vehicle::ChPart | |
| static ChMatrix33 | TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot) |
| Utility function for transforming inertia tensors between centroidal frames. More... | |
| Protected Types inherited from chrono::vehicle::ChBalancer | |
| enum | PointId { BEAM, REVOLUTE, NUM_POINTS } |
| Identifiers for the various hardpoints. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChBalancer | |
| ChBalancer (const std::string &name) | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChSubchassis | |
| ChSubchassis (const std::string &name) | |
| Construct a subchassis subsystem with given name. | |
| Protected Member Functions inherited from chrono::vehicle::ChPart | |
| ChPart (const std::string &name) | |
| Construct a vehicle subsystem with the specified name. | |
| void | AddMass (double &mass) |
| Add this subsystem's mass. More... | |
| void | AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia) |
| Add this subsystem's inertia properties. More... | |
| void | ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const |
| Export the list of bodies to the specified JSON document. | |
| void | ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const |
| Export the list of shafts to the specified JSON document. | |
| void | ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const |
| Export the list of joints to the specified JSON document. | |
| void | ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const |
| Export the list of shaft couples to the specified JSON document. | |
| void | ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const |
| Export the list of markers to the specified JSON document. | |
| void | ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const |
| Export the list of translational springs to the specified JSON document. | |
| void | ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const |
| Export the list of rotational springs to the specified JSON document. | |
| void | ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const |
| Export the list of body-body loads to the specified JSON document. | |
| Static Protected Member Functions inherited from chrono::vehicle::ChPart | |
| static void | RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item) |
| Erase all visual shapes from the visual model associated with the specified physics item (if any). | |
| static void | RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape) |
| Erase the given shape from the visual model associated with the specified physics item (if any). | |
| Protected Attributes inherited from chrono::vehicle::ChBalancer | |
| std::shared_ptr< ChJoint > | m_balancer_joint [2] |
| balancer pivot joints | |
| Protected Attributes inherited from chrono::vehicle::ChSubchassis | |
| ChVector3d | m_rel_loc |
| location relative to chassis | |
| std::shared_ptr< ChBody > | m_beam [2] |
| handles to beam bodies | |
| Protected Attributes inherited from chrono::vehicle::ChPart | |
| std::string | m_name |
| subsystem name | |
| bool | m_initialized |
| specifies whether or not the part is fully constructed | |
| bool | m_output |
| specifies whether or not output is generated for this subsystem | |
| std::shared_ptr< ChPart > | m_parent |
| parent subsystem (empty if parent is vehicle) | |
| double | m_mass |
| subsystem mass | |
| ChMatrix33 | m_inertia |
| inertia tensor (relative to subsystem COM) | |
| ChFrame | m_com |
| COM frame (relative to subsystem reference frame) | |
| ChFrame | m_xform |
| subsystem frame expressed in the global frame | |
| int | m_obj_tag |
| tag for part objects | |
Member Function Documentation
◆ GetBalancerMaxPitch()
|
inlineoverridevirtual |
Get the rear balancer min/max pitch.
Used only if using a kinematic joint.
Implements chrono::vehicle::ChBalancer.
◆ GetBushingData()
|
inlineoverridevirtual |
Return stiffness and damping data for the balancer bushing.
Returning nullptr (default) results in using a kinematic revolute joint.
Reimplemented from chrono::vehicle::ChBalancer.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/subchassis/Balancer.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/subchassis/Balancer.cpp
