Description

Base class for a generic wheeled vehicle suspension.

Except for the spindle bodies and the associated revolute joints, the topology of such a suspension is completely arbitrary and left to derived classes. Derived from ChSuspension, but still an abstract base class.

The suspension subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The suspension reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

All point locations are assumed to be given for the left half of the suspension and will be mirrored (reflecting the y coordinates) to construct the right side.

#include <ChGenericWheeledSuspension.h>

Inheritance diagram for chrono::vehicle::ChGenericWheeledSuspension:

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Collaboration diagram for chrono::vehicle::ChGenericWheeledSuspension:

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Classes
struct	BodyIdentifier
	Identification of a body in the suspension subsystem. More...

struct	ChassisIdentifier
	Identification of the vehicle chassis body. More...

struct	SteeringIdentifier
	Identification of a vehicle steering link body. More...

struct	SubchassisIdentifier
	Identification of a vehicle subchassis body. More...

Public Member Functions
virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

void	DefineBody (const std::string &name, bool mirrored, const ChVector3d &pos, const ChQuaternion<> &rot, double mass, const ChVector3d &inertia_moments, const ChVector3d &inertia_products, std::shared_ptr< utils::ChBodyGeometry > geometry=nullptr)
	Add a body definition to the suspension subsystem. More...

void	DefineJoint (const std::string &name, bool mirrored, ChVehicleJoint::Type type, BodyIdentifier body1, BodyIdentifier body2, const ChVector3d &pos, const ChQuaternion<> &rot, std::shared_ptr< ChVehicleBushingData > bdata=nullptr)
	Add a joint definition to the suspension subsystem. More...

void	DefineDistanceConstraint (const std::string &name, bool mirrored, BodyIdentifier body1, BodyIdentifier body2, const ChVector3d &point1, const ChVector3d &point2)
	Add a distance constraint definition to the suspension subsystem. More...

void	DefineTSDA (const std::string &name, bool mirrored, BodyIdentifier body1, BodyIdentifier body2, const ChVector3d &point1, const ChVector3d &point2, double rest_length, std::shared_ptr< ChLinkTSDA::ForceFunctor > force, std::shared_ptr< utils::ChTSDAGeometry > geometry=nullptr)
	Add a TSDA to model a suspension spring or shock. More...

void	DefineRSDA (const std::string &name, bool mirrored, BodyIdentifier body1, BodyIdentifier body2, const ChVector3d &pos, const ChVector3d &axis, double rest_angle, std::shared_ptr< ChLinkRSDA::TorqueFunctor > torque)
	Add an RSDA to model a suspension spring or shock. More...

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector3d &location, double left_ang_vel=0, double right_ang_vel=0) override
	Initialize this suspension subsystem. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the suspension subsystem. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the suspension subsystem.

virtual double	GetTrack () override
	Get the wheel track for the suspension subsystem.

virtual std::vector< ForceTSDA >	ReportSuspensionForce (VehicleSide side) const override
	Return current suspension TSDA force information on the specified side.

virtual std::vector< ForceRSDA >	ReportSuspensionTorque (VehicleSide side) const override
	Return current RSDA torque information on the specified side.

virtual void	LogConstraintViolations (VehicleSide side) override
	Log current constraint violations.

virtual std::shared_ptr< ChBody >	GetAntirollBody (VehicleSide side) const override
	Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...

Public Member Functions inherited from chrono::vehicle::ChSuspension
virtual bool	IsSteerable () const =0
	Specify whether or not this suspension can be steered.

virtual bool	IsIndependent () const =0
	Specify whether or not this is an independent suspension.

const ChVector3d &	GetRelPosition () const
	Get the location of the suspension subsystem relative to the associated chassis reference frame. More...

std::shared_ptr< ChBody >	GetSpindle (VehicleSide side) const
	Get a handle to the spindle body on the specified side.

std::shared_ptr< ChShaft >	GetAxle (VehicleSide side) const
	Get a handle to the axle shaft on the specified side.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute (VehicleSide side) const
	Get a handle to the revolute joint on the specified side.

const ChVector3d &	GetSpindlePos (VehicleSide side) const
	Get the global location of the spindle on the specified side.

ChQuaternion	GetSpindleRot (VehicleSide side) const
	Get the orientation of the spindle body on the specified side. More...

const ChVector3d &	GetSpindleLinVel (VehicleSide side) const
	Get the linear velocity of the spindle body on the specified side. More...

ChVector3d	GetSpindleAngVel (VehicleSide side) const
	Get the angular velocity of the spindle body on the specified side. More...

double	GetAxleSpeed (VehicleSide side) const
	Get the angular speed of the axle on the specified side.

virtual void	Synchronize (double time)
	Synchronize this suspension subsystem.

virtual void	Advance (double step)
	Advance the state of the suspension subsystem by the specified time step.

void	ApplyAxleTorque (VehicleSide side, double torque)
	Apply the provided motor torque. More...

virtual double	getSpindleRadius () const =0
	Return the radius of the spindle body (visualization only).

virtual double	getSpindleWidth () const =0
	Return the width of the spindle body (visualization only).

virtual std::shared_ptr< ChBody >	GetBrakeBody (VehicleSide side) const
	Specify the body on the specified side for a possible connection to brake subsystem. More...

void	ApplyParkingBrake (bool brake)
	Simple model of a parking brake.

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.

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.

Protected Member Functions
	ChGenericWheeledSuspension (const std::string &name)
	Protected constructor.

virtual double	getCamberAngle () const
	Return the camber angle, in radians (default: 0).

virtual double	getToeAngle () const
	Return the toe angle, in radians (default: 0). More...

virtual ChVector3d	getSpindlePos () const =0
	Return the location of the spindle body.

virtual double	getSpindleMass () const =0
	Return the mass of the spindle body.

virtual const ChVector3d &	getSpindleInertia () const =0
	Return the moments of inertia of the spindle body.

virtual BodyIdentifier	getSpindleAttachmentBody () const =0
	Specify the suspension body to which the spindle is attached.

virtual double	getAxleInertia () const =0
	Return the inertia of the axle shaft.

virtual BodyIdentifier	getAntirollBody () const =0
	Specify the suspension body to which an antiroll bar subsystem can attach.

Protected Member Functions inherited from chrono::vehicle::ChSuspension
	ChSuspension (const std::string &name)
	Construct a suspension 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...

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.

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...

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::ChSuspension
ChVector3d	m_rel_loc
	location relative to chassis

std::shared_ptr< ChBody >	m_spindle [2]
	handles to spindle bodies

std::shared_ptr< ChShaft >	m_axle [2]
	handles to axle shafts

std::shared_ptr< ChShaftBodyRotation >	m_axle_to_spindle [2]
	handles to spindle-shaft connectors

std::shared_ptr< ChLinkLockRevolute >	m_revolute [2]
	handles to spindle revolute joints

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

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChGenericWheeledSuspension::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the suspension subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChSuspension.

◆ DefineBody()

void chrono::vehicle::ChGenericWheeledSuspension::DefineBody	(	const std::string &	name,
		bool	mirrored,
		const ChVector3d &	pos,
		const ChQuaternion<> &	rot,
		double	mass,
		const ChVector3d &	inertia_moments,
		const ChVector3d &	inertia_products,
		std::shared_ptr< utils::ChBodyGeometry >	geometry = `nullptr`
	)

Add a body definition to the suspension subsystem.

Parameters

name	body name
mirrored	true if mirrored on right side
pos	body COM position (in subsystem reference frame)
rot	body frame orientation (in subsystem reference frame)
mass	body mass
inertia_moments	body moments of inertia (relative to COG frame)
inertia_products	body products of inertia (relative to COG frame)
geometry	optional collision and visualization geometry

◆ DefineDistanceConstraint()

void chrono::vehicle::ChGenericWheeledSuspension::DefineDistanceConstraint	(	const std::string &	name,
		bool	mirrored,
		BodyIdentifier	body1,
		BodyIdentifier	body2,
		const ChVector3d &	point1,
		const ChVector3d &	point2
	)

Add a distance constraint definition to the suspension subsystem.

Parameters

name	constraint name
mirrored	true if mirrored on right side
body1	first connected body
body2	second connected body
point1	point on body1 (in subsystem reference frame)
point2	point on body2 (in subsystem reference frame)

◆ DefineJoint()

void chrono::vehicle::ChGenericWheeledSuspension::DefineJoint	(	const std::string &	name,
		bool	mirrored,
		ChVehicleJoint::Type	type,
		BodyIdentifier	body1,
		BodyIdentifier	body2,
		const ChVector3d &	pos,
		const ChQuaternion<> &	rot,
		std::shared_ptr< ChVehicleBushingData >	bdata = `nullptr`
	)

Add a joint definition to the suspension subsystem.

If bushing data is provided, creates a bushing. Otherwise, creates a kinematic joint.

Parameters

name	joint name
mirrored	true if mirrored on right side
type	joint type
body1	first connected body
body2	second connected body
pos	joint position (in subsystem reference frame)
rot	joint frame orientation (in subsystem reference frame)
bdata	optional bushing data

◆ DefineRSDA()

void chrono::vehicle::ChGenericWheeledSuspension::DefineRSDA	(	const std::string &	name,
		bool	mirrored,
		BodyIdentifier	body1,
		BodyIdentifier	body2,
		const ChVector3d &	pos,
		const ChVector3d &	axis,
		double	rest_angle,
		std::shared_ptr< ChLinkRSDA::TorqueFunctor >	torque
	)

Add an RSDA to model a suspension spring or shock.

Parameters

name	RSDA name
mirrored	true if mirrored on right side
body1	first connected body
body2	second connected body
pos	RSDA position (in subsystem reference frame)
axis	axis of action for the RSDA
rest_angle	rest (free) angle
torque	functor for RSDA torque evaluation

◆ DefineTSDA()

void chrono::vehicle::ChGenericWheeledSuspension::DefineTSDA	(	const std::string &	name,
		bool	mirrored,
		BodyIdentifier	body1,
		BodyIdentifier	body2,
		const ChVector3d &	point1,
		const ChVector3d &	point2,
		double	rest_length,
		std::shared_ptr< ChLinkTSDA::ForceFunctor >	force,
		std::shared_ptr< utils::ChTSDAGeometry >	geometry = `nullptr`
	)

Add a TSDA to model a suspension spring or shock.

Parameters

name	TSDA name
mirrored	true if mirrored on right side
body1	first connected body
body2	second connected body
point1	point on body1 (in subsystem reference frame)
point2	point on body2 (in subsystem reference frame)
rest_length	rest (free) length
force	functor for TSDA force evaluation
geometry	optional visualization geometry

◆ GetAntirollBody()

std::shared_ptr< ChBody > chrono::vehicle::ChGenericWheeledSuspension::GetAntirollBody ( VehicleSide side ) const

overridevirtual

Specify the suspension body on the specified side to attach a possible antirollbar subsystem.

Return the corresponding lower control arm.

Reimplemented from chrono::vehicle::ChSuspension.

◆ getToeAngle()

virtual double chrono::vehicle::ChGenericWheeledSuspension::getToeAngle ( ) const

inlineprotectedvirtual

Return the toe angle, in radians (default: 0).

A positive value indicates toe-in, a negative value indicates toe-out.

Reimplemented in chrono::vehicle::GenericWheeledSuspension.

◆ Initialize()

void chrono::vehicle::ChGenericWheeledSuspension::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChSubchassis >	subchassis,
		std::shared_ptr< ChSteering >	steering,
		const ChVector3d &	location,
		double	left_ang_vel = `0`,
		double	right_ang_vel = `0`
	)

overridevirtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame.

Parameters

chassis	associated chassis subsystem
subchassis	associated subchassis subsystem (may be null)
steering	associated steering subsystem (may be null)
location	location relative to the chassis frame
left_ang_vel	initial angular velocity of left wheel
right_ang_vel	initial angular velocity of right wheel

Reimplemented from chrono::vehicle::ChSuspension.

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChGenericWheeledSuspension.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChGenericWheeledSuspension.cpp

Description

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ AddVisualizationAssets()

◆ DefineBody()

◆ DefineDistanceConstraint()

◆ DefineJoint()

◆ DefineRSDA()

◆ DefineTSDA()

◆ GetAntirollBody()

◆ getToeAngle()

◆ Initialize()