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 ContactDataReportTireContactData () 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=0.001)
 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...
 
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 ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () 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< ChVisualShapeTriangleMeshAddVisualizationMesh (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< ChVisualShapem_cyl_shape
 visualization cylinder asset
 
bool m_verbose
 verbose output
 
- Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheelm_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)
 
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< ChPartm_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()

TerrainForce chrono::vehicle::ChForceElementTire::GetTireForce ( ) const
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()

const ContactData& chrono::vehicle::ChForceElementTire::ReportTireContactData ( ) const
inline

Report current tire-terrain contact information.

If the tire is not in contact, all information is set to zero.

◆ ReportTireForce()

TerrainForce chrono::vehicle::ChForceElementTire::ReportTireForce ( ChTerrain terrain) const
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()

TerrainForce chrono::vehicle::ChForceElementTire::ReportTireForceLocal ( ChTerrain terrain,
ChCoordsys<> &  tire_frame 
) const
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