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chrono::vehicle::ChForceElementTire Class Referenceabstract
Description
Base class for a force element (handling) tire model.
#include <ChForceElementTire.h>
Inheritance diagram for chrono::vehicle::ChForceElementTire:
Collaboration diagram for chrono::vehicle::ChForceElementTire:
Classes | |
| struct | ContactData |
| Tire contact information. More... | |
Public Member Functions | |
| virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
| Report the tire force and moment. More... | |
| virtual TerrainForce | ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override |
| Report the tire forces expressed in the tire frame. More... | |
| const ContactData & | ReportTireContactData () const |
| Report current tire-terrain contact information. More... | |
| void | SetVerbose (bool verbose) |
| Enable/disable information terminal output (default: false). | |
 Public Member Functions inherited from chrono::vehicle::ChTire | |
| void | SetStepsize (double val) |
| Set the integration step size for the underlying dynamics (default: 1ms). More... | |
| double | GetStepsize () const |
| Get the current value of the integration step size. | |
| void | SetCollisionType (CollisionType collision_type) |
| Set the collision type for tire-terrain interaction (default: SINGLE_POINT). More... | |
| void | SetContactSurfaceType (ContactSurfaceType type, double dim=0.01, int collision_family=13) |
| Set the contact surface type (default: NODE_CLOUD). More... | |
| void | SetPressure (double pressure) |
| Set the internal tire pressure [Pa] (default: 0). More... | |
| double | GetPressure () const |
| Get the internal tire pressure [Pa]. | |
| virtual double | GetRadius () const =0 |
| Get the tire radius. | |
| virtual double | GetWidth () const =0 |
| Get the tire width. | |
| virtual double | GetTireMass () const =0 |
| Return the tire mass. | |
| virtual ChVector3d | GetTireInertia () const =0 |
| Return the tire moments of inertia (in the tire centroidal frame). | |
| double | GetSlipAngle () const |
| Return the tire slip angle calculated based on the current state of the associated wheel body. More... | |
| double | GetLongitudinalSlip () const |
| Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More... | |
| double | GetCamberAngle () const |
| Return the tire camber angle calculated based on the current state of the associated wheel body. More... | |
| virtual double | GetDeflection () const |
| Report the tire deflection. | |
| const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with tire visualization mesh. More... | |
| std::shared_ptr< ChWheel > | GetWheel () const |
| Get the associated wheel. More... | |
| virtual void | Initialize (std::shared_ptr< ChWheel > wheel) |
| Initialize this tire subsystem by associating it to an existing wheel subsystem. | |
| virtual void | Synchronize (double time, const ChTerrain &terrain) |
| Update the state of this tire system at the current time. More... | |
| virtual void | Advance (double step) |
| Advance the state of this tire by the specified time step. | |
| 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 | 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. | |
Protected Member Functions | |
| ChForceElementTire (const std::string &name) | |
| Construct a tire with the specified name. | |
| virtual double | GetNormalStiffnessForce (double depth) const =0 |
| Return the vertical tire stiffness contribution to the normal force. | |
| virtual double | GetNormalDampingForce (double depth, double velocity) const =0 |
| Return the vertical tire damping contribution to the normal force. | |
| virtual TerrainForce | GetTireForce () const override |
| Get the tire force and moment. More... | |
| virtual double | GetVisualizationWidth () const =0 |
| Get visualization width. | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the rigid tire subsystem. | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the rigid tire subsystem. | |
| Protected Member Functions inherited from chrono::vehicle::ChTire | |
| ChTire (const std::string &name) | |
| Construct a tire subsystem with given name. | |
| void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
| Calculate kinematics quantities based on the given state of the associated wheel body. More... | |
| double | GetOffset () const |
| Get offset from spindle center. More... | |
| std::shared_ptr< ChVisualShapeTriangleMesh > | AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right) |
| Add mesh visualization to the body associated with this tire (a wheel spindle body). More... | |
| 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 | |
| ContactData | m_data |
| tire-terrain collision information | |
| TerrainForce | m_tireforce |
| tire forces (in tire contact frame) | |
| ChFunctionInterp | m_areaDep |
| lookup table for estimation of penetration depth from intersection area | |
| std::shared_ptr< ChVisualShape > | m_cyl_shape |
| visualization cylinder asset | |
| bool | m_verbose |
| verbose output | |
| Protected Attributes inherited from chrono::vehicle::ChTire | |
| std::shared_ptr< ChWheel > | m_wheel |
| associated wheel subsystem | |
| double | m_stepsize |
| tire integration step size (if applicable) | |
| double | m_pressure |
| internal tire pressure | |
| CollisionType | m_collision_type |
| method used for tire-terrain collision | |
| ContactSurfaceType | m_contact_surface_type |
| type of contact surface model (node cloud or mesh) | |
| double | m_contact_surface_dim |
| contact surface dimension (node radius or mesh thickness) | |
| int | m_collision_family |
| collision family for this tire | |
| std::string | m_vis_mesh_file |
| name of OBJ file for visualization of this tire (may be empty) | |
| double | m_slip_angle |
| double | m_longitudinal_slip |
| double | m_camber_angle |
| 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 | |
| Public Types inherited from chrono::vehicle::ChTire | |
| enum | CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE } |
| Collision detection type. More... | |
| enum | ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH } |
| Contact surface type. More... | |
| Static Public Member Functions inherited from chrono::vehicle::ChTire | |
| static ChVector3d | EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2) |
| Utility function for estimating the tire moments of inertia. More... | |
| 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... | |
| Static Protected Member Functions inherited from chrono::vehicle::ChTire | |
| static bool | DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection, using the specified method. More... | |
| static void | ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep) |
| Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More... | |
| static bool | DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection. More... | |
| static bool | DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection considering the curvature of the road surface. More... | |
| static bool | DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Collsion algorithm based on a paper of J. More... | |
| 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). | |
Member Function Documentation
◆ GetTireForce()
|
overrideprotectedvirtual |
Get the tire force and moment.
This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.
Implements chrono::vehicle::ChTire.
◆ ReportTireContactData()
|
inline |
Report current tire-terrain contact information.
If the tire is not in contact, all information is set to zero.
◆ ReportTireForce()
|
overridevirtual |
Report the tire force and moment.
The return application point, force, and moment are assumed to be expressed in the global reference frame.
Implements chrono::vehicle::ChTire.
◆ ReportTireForceLocal()
|
overridevirtual |
Report the tire forces expressed in the tire frame.
The tire frame has its origin in the contact patch, the X axis in the tire heading direction and the Z axis in the terrain normal at the contact point. If the tire is not in contact, the tire frame is not set and the function returns zero force and moment.
Implements chrono::vehicle::ChTire.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChForceElementTire.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChForceElementTire.cpp
