Description

Base class for the chassis vehicle subsystem.

ChChassis is the base class for a main vehicle chassis (a single chassis or a front chassis).

#include <ChChassis.h>

Inheritance diagram for chrono::vehicle::ChChassis:

[legend]

Collaboration diagram for chrono::vehicle::ChChassis:

[legend]

Classes
class	ExternalForceTorque
	Base class for a user-defined custom force/torque acting on the chassis body. More...

Public Member Functions
	ChChassis (const std::string &name, bool fixed=false)
	Construct a chassis subsystem with the specified name. More...

virtual ChCoordsys	GetLocalDriverCoordsys () const =0
	Get the local driver position and orientation. More...

virtual const ChVector3d	GetLocalPosRearConnector () const
	Get the location (in the local frame of this chassis) of the connection to a rear chassis.

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Get a handle to the vehicle's chassis body.

ChSystem *	GetSystem () const
	Get a pointer to the containing system.

const ChVector3d &	GetPos () const
	Get the global location of the chassis reference frame origin.

ChQuaternion	GetRot () const
	Get the orientation of the chassis reference frame. More...

ChVector3d	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...

double	GetRollRate () const
	Get the roll rate of the chassis. More...

double	GetPitchRate () const
	Get the pitch rate of the chassis. More...

double	GetYawRate () const
	Get the yaw rate of the chassis. More...

double	GetTurnRate () const
	Get the turn rate of the chassis. More...

ChVector3d	GetPointLocation (const ChVector3d &locpos) const
	Get the global position of the specified point. More...

ChVector3d	GetPointVelocity (const ChVector3d &locpos) const
	Get the global velocity of the specified point. More...

ChVector3d	GetPointAcceleration (const ChVector3d &locpos) const
	Get the acceleration at the specified point. More...

virtual void	Initialize (ChSystem *system, const ChCoordsys<> &chassisPos, double chassisFwdVel, int collision_family=0)
	Initialize the chassis at the specified global position and orientation. More...

virtual void	EnableCollision (bool state)=0
	Enable/disable contact for the chassis. 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.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

void	AddMarker (const std::string &name, const ChFrame<> &frame)
	Add a marker on the chassis body at the specified position (relative to the chassis reference frame). More...

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkers () const

void	SetAerodynamicDrag (double Cd, double area, double air_density)
	Set parameters and enable aerodynamic drag force calculation. More...

virtual void	Synchronize (double time)
	Update the state of the chassis subsystem. More...

void	AddJoint (std::shared_ptr< ChVehicleJoint > joint)
	Utility function to add a joint (kinematic or bushing) to the vehicle system.

void	AddExternalForceTorque (std::shared_ptr< ExternalForceTorque > load)
	Utility force to add an external load to the chassis body.

void	AddTerrainLoad (std::shared_ptr< ChLoadBase > terrain_load)
	Add a terrain load to the vehicle system. More...

virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. 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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

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	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from this subsystem.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Static Public Member Functions
static void	RemoveJoint (std::shared_ptr< ChVehicleJoint > joint)
	Utility function to remove a joint (kinematic or bushing) from the vehicle system.

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 Member Functions
virtual double	GetBodyMass () const =0

virtual ChFrame	GetBodyCOMFrame () const =0

virtual ChMatrix33	GetBodyInertia () const =0

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...

virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. 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.

Protected Attributes
std::shared_ptr< ChBodyAuxRef >	m_body
	handle to the chassis body

std::shared_ptr< ChLoadContainer >	m_container_bushings
	load container for vehicle bushings

std::shared_ptr< ChLoadContainer >	m_container_external
	load container for external forces

std::shared_ptr< ChLoadContainer >	m_container_terrain
	load container for terrain forces

std::vector< std::shared_ptr< ExternalForceTorque > >	m_external_loads
	external loads

std::vector< std::shared_ptr< ChMarker > >	m_markers
	list of user-defined markers

bool	m_fixed
	is the chassis body fixed to ground?

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether ot 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

Additional Inherited Members
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).

Constructor & Destructor Documentation

◆ ChChassis()

chrono::vehicle::ChChassis::ChChassis	(	const std::string &	name,
		bool	fixed = `false`
	)

Construct a chassis subsystem with the specified name.

Parameters

[in]	name	name of the subsystem
[in]	fixed	is the chassis body fixed to ground?

Member Function Documentation

◆ AddMarker()

void chrono::vehicle::ChChassis::AddMarker	(	const std::string &	name,
		const ChFrame<> &	frame
	)

Add a marker on the chassis body at the specified position (relative to the chassis reference frame).

If called before initialization, this function has no effect.

Parameters

[in]	name	marker name
[in]	frame	marker position relative to chassis reference frame

◆ AddTerrainLoad()

void chrono::vehicle::ChChassis::AddTerrainLoad ( std::shared_ptr< ChLoadBase > terrain_load )

Add a terrain load to the vehicle system.

Terrain forces and torques (generated by the vehicle-terrain interface) are managed through a load container maintained on the vehicle chassis.

◆ EnableCollision()

virtual void chrono::vehicle::ChChassis::EnableCollision ( bool state )

pure virtual

Enable/disable contact for the chassis.

This function controls contact of the chassis with all other collision shapes in the simulation. Must be called after initialization and has effect only if the derived object has defined some collision shapes.

Implemented in chrono::vehicle::ChRigidChassisRear, and chrono::vehicle::ChRigidChassis.

◆ GetCOMSpeed()

double chrono::vehicle::ChChassis::GetCOMSpeed ( ) const

Get the speed of the chassis COM.

Return the speed measured at the chassis center of mass.

◆ GetLocalDriverCoordsys()

virtual ChCoordsys chrono::vehicle::ChChassis::GetLocalDriverCoordsys ( ) const

pure virtual

Get the local driver position and orientation.

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

◆ GetPitchRate()

double chrono::vehicle::ChChassis::GetPitchRate ( ) const

Get the pitch rate of the chassis.

The yaw rate is referenced to the chassis frame.

◆ GetPointAcceleration()

ChVector3d chrono::vehicle::ChChassis::GetPointAcceleration ( const ChVector3d & locpos ) const

Get the acceleration at the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned acceleration is expressed in the chassis reference frame.

◆ GetPointLocation()

ChVector3d chrono::vehicle::ChChassis::GetPointLocation ( const ChVector3d & locpos ) const

Get the global position of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned location is expressed in the global reference frame.

◆ GetPointVelocity()

ChVector3d chrono::vehicle::ChChassis::GetPointVelocity ( const ChVector3d & locpos ) const

Get the global velocity of the specified point.

The point is assumed to be given relative to the chassis reference frame. The returned velocity is expressed in the global reference frame.

◆ GetRollRate()

double chrono::vehicle::ChChassis::GetRollRate ( ) const

Get the roll rate of the chassis.

The yaw rate is referenced to the chassis frame.

◆ GetRot()

ChQuaternion chrono::vehicle::ChChassis::GetRot ( ) const

Get the orientation of the chassis reference frame.

Returns a rotation with respect to the global reference frame.

◆ GetSpeed()

double chrono::vehicle::ChChassis::GetSpeed ( ) const

Get the vehicle speed.

Return the speed measured at the origin of the chassis reference frame.

◆ GetTurnRate()

double chrono::vehicle::ChChassis::GetTurnRate ( ) const

Get the turn rate of the chassis.

Unlike the yaw rate (referenced to the chassis frame), the turn rate is referenced to the global frame.

◆ GetYawRate()

double chrono::vehicle::ChChassis::GetYawRate ( ) const

Get the yaw rate of the chassis.

The yaw rate is referenced to the chassis frame.

◆ Initialize()

void chrono::vehicle::ChChassis::Initialize	(	ChSystem *	system,
		const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel,
		int	collision_family = `0`
	)

virtual

Initialize the chassis at the specified global position and orientation.

The initial position and forward velocity are assumed to be given in the current world frame.

Parameters

[in]	system	containing system
[in]	chassisPos	absolute chassis position
[in]	chassisFwdVel	initial chassis forward velocity
[in]	collision_family	chassis collision family

Reimplemented in chrono::vehicle::ChRigidChassis.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChChassis::InitializeInertiaProperties ( )

overridevirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ SetAerodynamicDrag()

void chrono::vehicle::ChChassis::SetAerodynamicDrag	(	double	Cd,
		double	area,
		double	air_density
	)

Set parameters and enable aerodynamic drag force calculation.

By default, aerodynamic drag force calculation is disabled.

Parameters

[in]	Cd	drag coefficient
[in]	area	reference area
[in]	air_density	air density

◆ Synchronize()

void chrono::vehicle::ChChassis::Synchronize ( double time )

virtual

Update the state of the chassis subsystem.

The base class implementation applies all defined external forces to the chassis body.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChChassis::UpdateInertiaProperties ( )

overridevirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChChassis.cpp

Description

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChChassis()

Member Function Documentation

◆ AddMarker()

◆ AddTerrainLoad()

◆ EnableCollision()

◆ GetCOMSpeed()

◆ GetLocalDriverCoordsys()

◆ GetPitchRate()

◆ GetPointAcceleration()

◆ GetPointLocation()

◆ GetPointVelocity()

◆ GetRollRate()

◆ GetRot()

◆ GetSpeed()

◆ GetTurnRate()

◆ GetYawRate()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ SetAerodynamicDrag()

◆ Synchronize()

◆ UpdateInertiaProperties()