Description

PAC89 tire model from JSON file.

#include <MFTire.h>

Inheritance diagram for chrono::vehicle::MFTire:

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Collaboration diagram for chrono::vehicle::MFTire:

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Public Member Functions
	MFTire (const std::string &filename)

	MFTire (const rapidjson::Document &d)

virtual double	GetNormalStiffnessForce (double depth) const override
	Return the vertical tire stiffness contribution to the normal force.

virtual double	GetNormalDampingForce (double depth, double velocity) const override
	Return the vertical tire damping contribution to the normal force.

virtual double	GetTireMass () const override
	Return the tire mass.

virtual ChVector	GetTireInertia () const override
	Return the tire moments of inertia (in the tire centroidal frame).

virtual void	SetPac02Params () override
	Set the parameters in the Pac89 model.

virtual double	GetVisualizationWidth () const override
	Get visualization width.

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the rigid tire subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the rigid tire subsystem.

Public Member Functions inherited from chrono::vehicle::ChMFTire
	ChMFTire (const std::string &name)

virtual void	SetMFParams ()

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

virtual double	GetRadius () const override
	Get the tire radius.

void	SetGammaLimit (double gamma_limit)
	Set the limit for camber angle (in degrees). Default: 3 degrees.

virtual double	GetWidth () const override
	Get the width of the tire.

virtual double	GetDeflection () const override
	Get the tire deflection.

double	GetSlipAngle_internal () const
	Get the slip angle used in Pac89 (expressed in radians). More...

double	GetLongitudinalSlip_internal () const
	Get the longitudinal slip used in Pac89. More...

double	GetCamberAngle_internal ()
	Get the camber angle used in Pac89 (expressed in radians). More...

Public Member Functions inherited from chrono::vehicle::ChForceElementTire
virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment.

virtual TerrainForce	ReportTireForce (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Get the tire forces expressed in the tire frame. More...

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the value of the integration step size for the underlying dynamics (if applicable). 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. More...

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...

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. 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.

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.

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector	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 ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
	Utility function for transforming inertia tensors between centroidal frames. More...

Protected Types inherited from chrono::vehicle::ChMFTire
typedef struct chrono::vehicle::ChMFTire::TireData	TireData

Protected Member Functions inherited from chrono::vehicle::ChMFTire
virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, const ChTerrain &terrain) override
	Update the state of this tire system at the current time. More...

virtual void	Advance (double step) override
	Advance the state of this tire by the specified time step.

void	CopyContactData ()

void	CopyTireStates ()

void	CalculateForcesMoments (double step)

double	CalculateGamma (bool flip)

double	CalculatePressureDifference (double p)

double	CalculateEffectiveRollingRadius (double omega, double dpi, double Fz)

void	CalculateRelaxationLength (double Fz, double gamma, double dfz, double dpi)

void	TransientSlipNonlinear (double step, double vx, double vsx, double vsy, double Fx, double Fy, double Fz, double dpi, double dfz)

void	TransientSlip (double step, double vx, double vsx, double vsy, double sigma_x, double sigma_y)

void	CalculateFrictionScaling (double mu, double Vs)

double	ContactPatch (double dpi, double Fz)

double	CalculateMx (double Fz, double gamma, double dpi, double Fy)

double	CalculateMy (double Fz, double gamma, double dpi, double Fx, double Vcx)

double	CalculateMz (double Fz, double kappa, double alpha, double alpha_prime, double gamma, double dfz, double dpi, double phi, double Fx, double Fy, double Vcx)

double	CalculateFx (double Fz, double kappa, double alpha, double gamma, double dfz, double dpi, double phi)

double	CalculateFy (double Fz, double kappa, double alpha, double gamma, double dfz, double dpi, double phi, double Vcx)

double	CalculateFz (double depth, double omega, double gamma, double p, double Fx, double Fy)

Protected Member Functions inherited from chrono::vehicle::ChForceElementTire
	ChForceElementTire (const std::string &name)
	Construct a tire with the specified name.

virtual TerrainForce	GetTireForce () const override
	Get the tire force and moment. More...

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< ChTriangleMeshShape >	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 (ChVector<> &com, ChMatrix33<> &inertia)
	Add this subsystem's inertia properties. 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.

Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &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 ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &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 ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &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).

Protected Attributes inherited from chrono::vehicle::ChMFTire
double	m_kappa
	longitudinal slip ratio

double	m_alpha
	slip angle

double	m_gamma
	camber angle

double	m_gamma_limit
	limit camber angle

double	m_mu = 1.0
	Road friction.

double	m_mu0 = 1.0

bool	useStarInputs = true

bool	useTurnSlip = false

bool	useIsoRef = false

bool	flipSide = false

unsigned int	m_use_mode

double	m_fx_fb = 0.0

double	m_fy_fb = 0.0

double	m_dpi

double	m_dfz

double	m_fz_scl

double	m_fz

double	m_fz_unlim

double	LMUX_star = 1.0

double	LMUY_star = 1.0

double	LMUX_prime = 1.0

double	LMUY_prime = 1.0

double	m_Fy_prime = 0.0

double	m_By = 0.0

double	m_Cy = 0.0

double	m_Gyk = 0.0

double	m_SHy = 0.0

double	m_SVy = 0.0

double	m_SVyk = 0.0

double	m_Kxk = 0.0

double	m_Kya = 0.0

double	m_muy = 0.0

double	epsilonx = 0.0

double	epsilony = 0.0

double	m_sigma_x = 0.0

double	m_sigma_y = 0.0

TireData	par

TireStates	m_states

TireStates	m_states_in

ContactData	m_data_in

TerrainForce	m_tireforce_out

std::shared_ptr< ChVisualShape >	m_cyl_shape
	visualization cylinder asset

Protected Attributes inherited from chrono::vehicle::ChForceElementTire
ContactData	m_data
	tire-terrain collision information

TerrainForce	m_tireforce
	tire forces (in tire contact frame)

ChFunction_Recorder	m_areaDep

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)

CollisionType	m_collision_type
	method used for tire-terrain collision

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

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/MFTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/MFTire.cpp

Description

Public Member Functions

Additional Inherited Members