Description

Definition of a suspension test rig.

#include <ChTrackTestRig.h>

Inheritance diagram for chrono::vehicle::ChTrackTestRig:

Collaboration diagram for chrono::vehicle::ChTrackTestRig:

[legend]

Public Member Functions
	ChTrackTestRig ()
	Default constructor.

	ChTrackTestRig (const std::string &filename, bool create_track=true, ChContactMethod contact_method=ChContactMethod::NSC, bool detracking_control=false)
	Construct a test rig from specified track assembly JSON file. More...

	ChTrackTestRig (std::shared_ptr< ChTrackAssembly > assembly, bool create_track=true, ChContactMethod contact_method=ChContactMethod::NSC, bool detracking_control=false)
	Construct a test rig using the specified track assembly and subsystem locations. More...

	~ChTrackTestRig ()
	Destructor.

void	SetDriver (std::shared_ptr< ChTrackTestRigDriver > driver)
	Set driver system.

void	SetInitialRideHeight (double height)
	Set the initial ride height (relative to the sprocket reference frame). More...

void	SetDisplacementLimit (double limit)
	Set the limits for post displacement (same for jounce and rebound). More...

void	SetDisplacementDelay (double delay)
	Set time delay before applying post displacement. More...

void	SetMaxTorque (double val)
	Set maximum sprocket torque.

void	SetSprocketVisualizationType (VisualizationType vis)
	Set visualization type for the sprocket subsystem (default: PRIMITIVES).

void	SetIdlerVisualizationType (VisualizationType vis)
	Set visualization type for the idler subsystem (default: PRIMITIVES).

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the track suspension subsystem (default: PRIMITIVES).

void	SetIdlerWheelVisualizationType (VisualizationType vis)
	Set visualization type for the idler-wheel subsystem (default: PRIMITIVES).

void	SetRoadWheelVisualizationType (VisualizationType vis)
	Set visualization type for the road-wheel subsystem (default: PRIMITIVES).

void	SetTrackShoeVisualizationType (VisualizationType vis)
	Set visualization type for the track shoe subsystems (default: PRIMITIVES).

void	SetDriverLogFilename (const std::string &filename)
	Set filename for optional driver log.

void	SetTrackAssemblyOutput (bool state)
	Enable/disable output for the track assembly. More...

void	Initialize ()
	Initialize this track test rig.

virtual void	Advance (double step) override
	Advance the state of the track test rig by the specified time step.

void	EnableCollision (int flags)
	Set collision flags for the various subsystems. More...

void	SetPostCollide (bool flag)
	Enable/disable collision for the rig posts (default: true).

void	MonitorContacts (int flags)
	Set contacts to be monitored. More...

void	SetRenderContactNormals (bool val)
	Render normals of all monitored contacts.

void	SetRenderContactForces (bool val, double scale)
	Render forces of all monitored contacts.

void	SetContactCollection (bool val)
	Turn on/off contact data collection. More...

bool	IsPartInContact (TrackedCollisionFlag::Enum part) const
	Return true if the specified vehicle part is currently experiencing a collision.

ChVector3d	GetSprocketResistiveTorque (VehicleSide side) const
	Return estimated resistive torque on the specified sprocket. More...

void	WriteContacts (const std::string &filename)
	Write contact information to file. More...

double	GetThrottleInput () const

double	GetDisplacementInput (int index)

double	GetActuatorDisp (int index)

double	GetActuatorForce (int index)

double	GetActuatorMarkerDist (int index)

double	GetMass () const
	Get the rig total mass. More...

std::shared_ptr< ChTrackAssembly >	GetTrackAssembly () const
	Get the track assembly subsystem.

double	GetRideHeight () const
	Get current ride height (relative to the chassis reference frame). More...

void	LogDriverInputs ()
	Log current driver inputs.

virtual void	LogConstraintViolations () override
	Log current constraint violations.

void	SetPlotOutput (double output_step)
	Enable/disable data collection for plot generation (default: false). More...

virtual void	PlotOutput (const std::string &out_dir, const std::string &out_name)
	Plot collected data. More...

Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual	~ChVehicle ()
	Destructor.

const std::string &	GetName () const
	Get the name identifier for this vehicle.

void	SetName (const std::string &name)
	Set the name identifier for this vehicle.

ChSystem *	GetSystem ()
	Get a pointer to the Chrono ChSystem.

double	GetChTime () const
	Get the current simulation time of the underlying ChSystem.

std::shared_ptr< ChChassis >	GetChassis () const
	Get a handle to the vehicle's main chassis subsystem.

std::shared_ptr< ChChassisRear >	GetChassisRear (int id) const
	Get the specified specified rear chassis subsystem.

std::shared_ptr< ChChassisConnector >	GetChassisConnector (int id) const
	Get a handle to the specified chassis connector.

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

std::shared_ptr< ChBodyAuxRef >	GetChassisRearBody (int id) const
	Get a handle to the specified rear chassis body.

std::shared_ptr< ChPowertrainAssembly >	GetPowertrainAssembly () const
	Get the powertrain attached to this vehicle.

std::shared_ptr< ChEngine >	GetEngine () const
	Get the engine in the powertrain assembly (if a powertrain is attached).

std::shared_ptr< ChTransmission >	GetTransmission () const
	Get the transmission in the powertrain assembly (if a powertrain is attached).

double	GetMass () const
	Get the vehicle total mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current vehicle inertia (relative to the vehicle COM frame).

const ChFrameMoving &	GetRefFrame () const
	Get the current vehicle reference frame. More...

const ChFrame &	GetTransform () const
	Get the current vehicle transform relative to the global frame. More...

const ChVector3d &	GetPos () const
	Get the vehicle global location. More...

ChQuaternion	GetRot () const
	Get the vehicle orientation. More...

double	GetRoll () const
	Get vehicle roll angle. More...

double	GetPitch () const
	Get vehicle pitch angle. More...

double	GetRoll (const ChTerrain &terrain) const
	Get vehicle roll angle (relative to local terrain). More...

double	GetPitch (const ChTerrain &terrain) const
	Get vehicle pitch angle (relative to local terrain). More...

double	GetSpeed () const
	Get the vehicle speed (velocity component in the vehicle forward direction). More...

double	GetSlipAngle () const
	Get the vehicle slip angle. More...

double	GetRollRate () const
	Get the vehicle roll rate. More...

double	GetPitchRate () const
	Get the vehicle pitch rate. More...

double	GetYawRate () const
	Get the vehicle yaw rate. More...

double	GetTurnRate () const
	Get the vehicle turn rate. 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...

ChVector3d	GetDriverPos () const
	Get the global location of the driver.

void	EnableRealtime (bool val)
	Enable/disable soft real-time (default: false). More...

double	GetRTF () const
	Get current estimated RTF (real time factor). More...

double	GetStepRTF () const
	Get current estimated step RTF (real time factor). More...

void	SetCollisionSystemType (ChCollisionSystem::Type collsys_type)
	Change the default collision detection system. More...

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system. More...

void	SetOutput (ChVehicleOutput::Type type, std::ostream &out_stream, double output_step)
	Enable output for this vehicle system using an existing output stream. More...

void	InitializePowertrain (std::shared_ptr< ChPowertrainAssembly > powertrain)
	Initialize the given powertrain assembly and associate it to this vehicle. More...

void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem.

void	SetChassisRearVisualizationType (VisualizationType vis)
	Set visualization mode for the rear chassis subsystems.

void	SetChassisCollide (bool state)
	Enable/disable collision for the chassis subsystem. More...

virtual void	SetChassisVehicleCollide (bool state)
	Enable/disable collision between the chassis and all other vehicle subsystems. More...

void	SetChassisOutput (bool state)
	Enable/disable output from the chassis subsystem.

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

Friends
class	ChTrackTestRigVisualSystemIrrlicht

Additional Inherited Members
Protected Member Functions inherited from chrono::vehicle::ChVehicle
	ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with an underlying ChSystem. More...

	ChVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

void	SetSystem (ChSystem *sys)
	Set the associated Chrono system.

Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool	AnyOutput (const std::vector< std::shared_ptr< T >> &list)
	Utility function for testing if any subsystem in a list generates output.

Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string	m_name
	vehicle name

ChSystem *	m_system
	pointer to the Chrono system

bool	m_ownsSystem
	true if system created at construction

double	m_mass
	total vehicle mass

ChFrame	m_com
	current vehicle COM (relative to the vehicle reference frame)

ChMatrix33	m_inertia
	current total vehicle inertia (Relative to the vehicle COM frame)

bool	m_output
	generate ouput for this vehicle system

ChVehicleOutput *	m_output_db
	vehicle output database

double	m_output_step
	output time step

double	m_next_output_time
	time for next output

int	m_output_frame
	current output frame

std::shared_ptr< ChChassis >	m_chassis
	handle to the main chassis subsystem

ChChassisRearList	m_chassis_rear
	list of rear chassis subsystems (can be empty)

ChChassisConnectorList	m_chassis_connectors
	list of chassis connector (must match m_chassis_rear)

std::shared_ptr< ChPowertrainAssembly >	m_powertrain_assembly
	associated powertrain system

Constructor & Destructor Documentation

◆ ChTrackTestRig() [1/2]

chrono::vehicle::ChTrackTestRig::ChTrackTestRig	(	const std::string &	filename,
		bool	create_track = `true`,
		ChContactMethod	contact_method = `ChContactMethod::NSC`,
		bool	detracking_control = `false`
	)

Construct a test rig from specified track assembly JSON file.

Parameters

[in]	filename	JSON file with rig specification
[in]	create_track	include track shoes?
[in]	contact_method	contact method
[in]	detracking_control	detracking control

◆ ChTrackTestRig() [2/2]

chrono::vehicle::ChTrackTestRig::ChTrackTestRig	(	std::shared_ptr< ChTrackAssembly >	assembly,
		bool	create_track = `true`,
		ChContactMethod	contact_method = `ChContactMethod::NSC`,
		bool	detracking_control = `false`
	)

Construct a test rig using the specified track assembly and subsystem locations.

Parameters

[in]	assembly	handle to the track assembly
[in]	create_track	include track shoes?
[in]	contact_method	contact method
[in]	detracking_control	detracking control

Member Function Documentation

◆ EnableCollision()

void chrono::vehicle::ChTrackTestRig::EnableCollision ( int flags )

inline

Set collision flags for the various subsystems.

By default, collision is enabled for sprocket, idler, road wheels, and track shoes.

◆ GetMass()

double chrono::vehicle::ChTrackTestRig::GetMass ( ) const

Get the rig total mass.

This is simply the mass of the track subsystem.

◆ GetRideHeight()

double chrono::vehicle::ChTrackTestRig::GetRideHeight ( ) const

Get current ride height (relative to the chassis reference frame).

This estimate uses the average of the left and right posts.

◆ GetSprocketResistiveTorque()

ChVector3d chrono::vehicle::ChTrackTestRig::GetSprocketResistiveTorque ( VehicleSide side ) const

inline

Return estimated resistive torque on the specified sprocket.

This torque is available only if monitoring of contacts for that sprocket is enabled.

◆ MonitorContacts()

void chrono::vehicle::ChTrackTestRig::MonitorContacts ( int flags )

inline

Set contacts to be monitored.

Contact information will be tracked for the specified subsystems.

◆ PlotOutput()

void chrono::vehicle::ChTrackTestRig::PlotOutput	(	const std::string &	out_dir,
		const std::string &	out_name
	)

virtual

Plot collected data.

When called (typically at the end of the simulation loop), the collected data is saved in ASCII format in a file with the specified name (and 'txt' extension) in the specified output directory. If the Chrono::Postprocess module is available (with gnuplot support), selected plots are generated.
Collected data includes:

[col 1] time (s)
[col 2-4] sprocket location (m)
[col 5-7] idler location (m)
[col 8-10] road wheel 1 location (m)
[col 11-13] road wheel 2 location (m)
... ...

◆ SetContactCollection()

void chrono::vehicle::ChTrackTestRig::SetContactCollection ( bool val )

inline

Turn on/off contact data collection.

If enabled, contact information will be collected for all monitored subsystems.

◆ SetDisplacementDelay()

void chrono::vehicle::ChTrackTestRig::SetDisplacementDelay ( double delay )

inline

Set time delay before applying post displacement.

Default value: 0

◆ SetDisplacementLimit()

void chrono::vehicle::ChTrackTestRig::SetDisplacementLimit ( double limit )

inline

Set the limits for post displacement (same for jounce and rebound).

Default value: 0

◆ SetInitialRideHeight()

void chrono::vehicle::ChTrackTestRig::SetInitialRideHeight ( double height )

inline

Set the initial ride height (relative to the sprocket reference frame).

If not specified, the reference height is the track assembly design configuration.

◆ SetPlotOutput()

void chrono::vehicle::ChTrackTestRig::SetPlotOutput ( double output_step )

Enable/disable data collection for plot generation (default: false).

See PlotOutput details on data collected.

◆ SetTrackAssemblyOutput()

void chrono::vehicle::ChTrackTestRig::SetTrackAssemblyOutput ( bool state )

Enable/disable output for the track assembly.

◆ WriteContacts()

void chrono::vehicle::ChTrackTestRig::WriteContacts ( const std::string & filename )

inline

Write contact information to file.

If data collection was enabled and at least one subsystem is monitored, contact information is written (in CSV format) to the specified file.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/test_rig/ChTrackTestRig.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/test_rig/ChTrackTestRig.cpp

Description

Public Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackTestRig() [1/2]

◆ ChTrackTestRig() [2/2]

Member Function Documentation

◆ EnableCollision()

◆ GetMass()

◆ GetRideHeight()

◆ GetSprocketResistiveTorque()

◆ MonitorContacts()

◆ PlotOutput()

◆ SetContactCollection()

◆ SetDisplacementDelay()

◆ SetDisplacementLimit()

◆ SetInitialRideHeight()

◆ SetPlotOutput()

◆ SetTrackAssemblyOutput()

◆ WriteContacts()