Description

Base class for a torsion-bar suspension system using a rotational damper (template definition).

#include <ChRotationalDamperSuspension.h>

Inheritance diagram for chrono::vehicle::ChRotationalDamperSuspension:
Collaboration diagram for chrono::vehicle::ChRotationalDamperSuspension:

Public Member Functions

 ChRotationalDamperSuspension (const std::string &name, bool has_shock=true, bool lock_arm=false)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const override
 Get a handle to the carrier body.
 
virtual double GetCarrierAngle () const override
 Return the current pitch angle of the carrier body. More...
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track) override
 Initialize this suspension subsystem. More...
 
virtual ForceTorque ReportSuspensionForce () const override
 Return current suspension forces or torques, as appropriate (spring and shock). More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the suspension subsystem.
 
void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackSuspension
GuidePinType GetType () const
 Return the type of track shoe consistent with this road wheel.
 
std::shared_ptr< ChTrackWheelGetRoadWheel () const
 Return a handle to the road wheel subsystem.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Return the body of the idler wheel.
 
std::shared_ptr< ChLinkLockRevoluteGetWheelRevolute () const
 Get a handle to the revolute joint of the road-wheel.
 
double GetWheelRadius () const
 Get the radius of the road wheel.
 
virtual void SetOutput (bool state) override
 Enable/disable output for this 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.
 
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.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Types

enum  PointId { ARM, ARM_WHEEL, ARM_CHASSIS, NUM_POINTS }
 Identifiers for the various hardpoints. More...
 

Protected Member Functions

virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual const ChVector GetLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double GetArmMass () const =0
 Return the mass of the arm body.
 
virtual const ChVectorGetArmInertia () const =0
 Return the moments of inertia of the arm body.
 
virtual double GetArmVisRadius () const =0
 Return a visualization radius for the arm body.
 
virtual double GetSpringRestAngle () const =0
 Return the free (rest) angle of the spring element.
 
virtual std::shared_ptr< ChLinkRSDA::TorqueFunctorGetSpringTorqueFunctor () const =0
 Return the functor object for the torsional spring torque.
 
virtual std::shared_ptr< ChLinkRSDA::TorqueFunctorGetShockTorqueCallback () const =0
 Return the functor object for the rotational shock force.
 
virtual std::shared_ptr< ChVehicleBushingDatagetArmBushingData () const
 Return stiffness and damping data for the arm bushing. More...
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackSuspension
 ChTrackSuspension (const std::string &name, bool has_shock, bool lock_arm)
 
- 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 (ChVector<> &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< ChBodym_arm
 trailing arm body
 
std::shared_ptr< ChVehicleJointm_joint
 joint arm-chassis
 
std::shared_ptr< ChLinkRSDAm_spring
 rotational spring link
 
std::shared_ptr< ChLinkRSDAm_shock
 rotational shock link
 
- Protected Attributes inherited from chrono::vehicle::ChTrackSuspension
GuidePinType m_type
 type of the track shoe matching this road wheel
 
bool m_has_shock
 specifies whether or not the suspension has a damper
 
bool m_lock_arm
 specified whether the suspension arm is locked
 
ChVector m_rel_loc
 suspension subsystem location relative to chassis
 
std::shared_ptr< ChTrackWheelm_road_wheel
 road-wheel subsystem
 
ChTrackAssemblym_track
 containing track assembly
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
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

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &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).
 

Member Enumeration Documentation

◆ PointId

Identifiers for the various hardpoints.

Enumerator
ARM 

arm location

ARM_WHEEL 

arm, connection point to road wheel

ARM_CHASSIS 

arm, connection point to chassis

Constructor & Destructor Documentation

◆ ChRotationalDamperSuspension()

chrono::vehicle::ChRotationalDamperSuspension::ChRotationalDamperSuspension ( const std::string &  name,
bool  has_shock = true,
bool  lock_arm = false 
)
Parameters
[in]namename of the subsystem
[in]has_shockspecify whether or not the suspension has a damper
[in]lock_armif true, the suspension arm is locked

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChRotationalDamperSuspension::ExportComponentList ( rapidjson::Document &  jsonDocument) const
overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChTrackSuspension.

◆ getArmBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::ChRotationalDamperSuspension::getArmBushingData ( ) const
inlineprotectedvirtual

Return stiffness and damping data for the arm bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

◆ GetCarrierAngle()

double chrono::vehicle::ChRotationalDamperSuspension::GetCarrierAngle ( ) const
overridevirtual

Return the current pitch angle of the carrier body.

This angle is measured in the x-z transversal plane, from the initial configuration, and follows the right-hand rule.

Implements chrono::vehicle::ChTrackSuspension.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChRotationalDamperSuspension::GetLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

◆ Initialize()

void chrono::vehicle::ChRotationalDamperSuspension::Initialize ( std::shared_ptr< ChChassis chassis,
const ChVector<> &  location,
ChTrackAssembly track 
)
overridevirtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis body 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 centered at the location of the road wheel and aligned with the chassis reference frame.

Parameters
[in]chassisassociated chassis subsystem
[in]locationlocation relative to the chassis frame
[in]trackcontaining track assembly

Reimplemented from chrono::vehicle::ChTrackSuspension.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChRotationalDamperSuspension::InitializeInertiaProperties ( )
overrideprotectedvirtual

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.

◆ ReportSuspensionForce()

ChTrackSuspension::ForceTorque chrono::vehicle::ChRotationalDamperSuspension::ReportSuspensionForce ( ) const
overridevirtual

Return current suspension forces or torques, as appropriate (spring and shock).

A ChRotationalDamperSuspension returns torques for both the spring and the damper.

Implements chrono::vehicle::ChTrackSuspension.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChRotationalDamperSuspension::UpdateInertiaProperties ( )
overrideprotectedvirtual

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/tracked_vehicle/suspension/ChRotationalDamperSuspension.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/suspension/ChRotationalDamperSuspension.cpp