chrono::vehicle::SAELeafspringAxle Class Reference
Description
Leaf-spring solid axle suspension constructed with data from file.
#include <SAELeafspringAxle.h>
Inheritance diagram for chrono::vehicle::SAELeafspringAxle:
Collaboration diagram for chrono::vehicle::SAELeafspringAxle:
Public Member Functions | |
| SAELeafspringAxle (const std::string &filename) | |
| SAELeafspringAxle (const rapidjson::Document &d) | |
 Public Member Functions inherited from chrono::vehicle::ChSAELeafspringAxle | |
| ChSAELeafspringAxle (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual bool | IsSteerable () const final override |
| Specify whether or not this suspension can be steered. | |
| virtual bool | IsIndependent () const final override |
| Specify whether or not this is an independent suspension. | |
| virtual void | Construct (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector3d &location, double left_ang_vel, double right_ang_vel) override |
| Construct 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. | |
| std::shared_ptr< ChLinkTSDA > | GetSpring (VehicleSide side) const |
| Get a handle to the specified spring element. | |
| std::shared_ptr< ChLinkTSDA > | GetShock (VehicleSide side) const |
| Get a handle to the specified shock (damper) element. | |
| virtual std::vector< ForceTSDA > | ReportSuspensionForce (VehicleSide side) const override |
| Return current suspension TSDA force information on the specified side. | |
| double | GetSpringForce (VehicleSide side) const |
| Get the force in the spring element. | |
| double | GetSpringLength (VehicleSide side) const |
| Get the current length of the spring element. | |
| double | GetSpringDeformation (VehicleSide side) const |
| Get the current deformation of the spring element. | |
| double | GetShockForce (VehicleSide side) const |
| Get the force in the shock (damper) element. | |
| double | GetShockLength (VehicleSide side) const |
| Get the current length of the shock (damper) element. | |
| double | GetShockVelocity (VehicleSide side) const |
| Get the current deformation velocity of the shock (damper) element. | |
| virtual void | LogConstraintViolations (VehicleSide side) override |
| Log current constraint violations. | |
| void | LogHardpointLocations (const ChVector3d &ref, bool inches=false) |
| Public Member Functions inherited from chrono::vehicle::ChSuspension | |
| const ChVector3d & | GetRelPosition () const |
| Get the location of the suspension subsystem relative to the associated chassis reference frame. More... | |
| std::shared_ptr< ChSpindle > | 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... | |
| 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) |
| Initialize this suspension subsystem. More... | |
| virtual std::shared_ptr< ChBody > | GetAntirollBody (VehicleSide side) const |
| Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More... | |
| virtual std::shared_ptr< ChBody > | GetBrakeBody (VehicleSide side) const |
| Specify the body on the specified side for a possible connection to brake subsystem. More... | |
| virtual std::vector< ForceRSDA > | ReportSuspensionTorque (VehicleSide side) const |
| Return current RSDA torque information on the specified side. | |
| 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. | |
| virtual uint16_t | GetVehicleTag () const |
| Get the tag of the associated vehicle. More... | |
| int | GetBodyTag () const |
| Get the tag for component bodies. | |
| 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 | |
| virtual double | getCamberAngle () const override |
| Return the camber angle, in radians (default: 0). | |
| virtual double | getToeAngle () const override |
| Return the toe angle, in radians (default: 0). More... | |
| virtual const ChVector3d | getAxleTubeCOM () const override |
| Return the center of mass of the axle tube. | |
| virtual double | getSpindleRadius () const override |
| Return the radius of the spindle body (visualization only). | |
| virtual double | getSpindleWidth () const override |
| Return the width of the spindle body (visualization only). | |
| virtual double | getAxleTubeMass () const override |
| Return the mass of the axle tube body. | |
| virtual double | getSpindleMass () const override |
| Return the mass of the spindle body. | |
| virtual double | getFrontLeafMass () const override |
| Return the mass of the frontleaf body. | |
| virtual double | getRearLeafMass () const override |
| Return the mass of the rearleaf body. | |
| virtual double | getClampMass () const override |
| Return the mass of the half clamp body. | |
| virtual double | getShackleMass () const override |
| Return the mass of the shackle body. | |
| virtual double | getAxleTubeRadius () const override |
| Return the radius of the axle tube body (visualization only). | |
| virtual const ChVector3d & | getAxleTubeInertia () const override |
| Return the moments of inertia of the axle tube body. | |
| virtual const ChVector3d & | getSpindleInertia () const override |
| Return the moments of inertia of the spindle body. | |
| virtual const ChVector3d & | getFrontLeafInertia () const override |
| Return the moments of inertia of the frontleaf body. | |
| virtual const ChVector3d & | getRearLeafInertia () const override |
| Return the moments of inertia of the frontleaf body. | |
| virtual const ChVector3d & | getClampInertia () const override |
| Return the moments of inertia of the half leafclamp body. | |
| virtual const ChVector3d & | getShackleInertia () const override |
| Return the moments of inertia of the shackle body. | |
| virtual double | getAxleInertia () const override |
| Return the inertia of the axle shaft. | |
| virtual double | getSpringRestLength () const override |
| Return the free (rest) length of the spring element. | |
| virtual double | getShockRestLength () const override |
| Return the free (rest) length of the shock element. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getSpringForceFunctor () const override |
| Return the functor object for spring force. | |
| virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockForceFunctor () const override |
| Return the functor object for shock force. | |
| virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor > | getLatTorqueFunctorA () const override |
| virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor > | getLatTorqueFunctorB () const override |
| virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor > | getVertTorqueFunctorA () const override |
| virtual std::shared_ptr< ChLinkRSDA::TorqueFunctor > | getVertTorqueFunctorB () const override |
| virtual std::shared_ptr< ChJoint::BushingData > | getShackleBushingData () const override |
| Return stiffness and damping data for the shackle bushing. More... | |
| virtual std::shared_ptr< ChJoint::BushingData > | getClampBushingData () const override |
| Return stiffness and damping data for the clamp bushing. More... | |
| virtual std::shared_ptr< ChJoint::BushingData > | getLeafspringBushingData () const override |
| Return stiffness and damping data for the leafspring bushing. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChSAELeafspringAxle | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| 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... | |
| 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... | |
| Protected Types inherited from chrono::vehicle::ChSAELeafspringAxle | |
| enum | PointId { SHOCK_A, SHOCK_C, SPRING_A, SPRING_C, SPINDLE, CLAMP_A, CLAMP_B, FRONT_HANGER, REAR_HANGER, SHACKLE, NUM_POINTS } |
| Identifiers for the various hardpoints. 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::ChSAELeafspringAxle | |
| std::shared_ptr< ChBody > | m_axleTube |
| axle tube body | |
| std::shared_ptr< ChLinkTSDA > | m_shock [2] |
| spring links (L/R) | |
| std::shared_ptr< ChLinkTSDA > | m_spring [2] |
| shock links (L/R) | |
| std::shared_ptr< ChBody > | m_shackle [2] |
| shackle bodies | |
| std::shared_ptr< ChJoint > | m_shackleRev [2] |
| chassis-shackle rotational joint | |
| std::shared_ptr< ChBody > | m_frontleaf [2] |
| frontleaf bodies | |
| std::shared_ptr< ChLinkLockSpherical > | m_frontleafSph [2] |
| frontleaf-chassis spherical joint | |
| std::shared_ptr< ChJoint > | m_frontleafRev [2] |
| frontleaf-clampA rotational joint | |
| std::shared_ptr< ChBody > | m_rearleaf [2] |
| rearleaf bodies | |
| std::shared_ptr< ChLinkLockSpherical > | m_rearleafSph [2] |
| rearleaf-chassis spherical joint | |
| std::shared_ptr< ChJoint > | m_rearleafRev [2] |
| rearleaf-clampB rotational joint | |
| std::shared_ptr< ChBody > | m_clampA [2] |
| clampA bodies | |
| std::shared_ptr< ChJoint > | m_clampARev [2] |
| clampA-axleTube rotational joint Z | |
| std::shared_ptr< ChBody > | m_clampB [2] |
| clampB bodies | |
| std::shared_ptr< ChJoint > | m_clampBRev [2] |
| clampB-axleTube rotational joint Z | |
| std::shared_ptr< ChLinkRSDA > | m_latRotSpringA [2] |
| mimics lateral stiffness of frontleaf | |
| std::shared_ptr< ChLinkRSDA > | m_latRotSpringB [2] |
| mimics lateral stiffness of rearleaf | |
| std::shared_ptr< ChLinkRSDA > | m_vertRotSpringA [2] |
| mimics vertical stiffness of frontleaf | |
| std::shared_ptr< ChLinkRSDA > | m_vertRotSpringB [2] |
| mimics vertical stiffness of rearleaf | |
| Protected Attributes inherited from chrono::vehicle::ChSuspension | |
| ChVector3d | m_rel_loc |
| location relative to chassis | |
| std::shared_ptr< ChSpindle > | 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 or 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 | |
| int | m_obj_tag |
| tag for part objects | |
Member Function Documentation
◆ getClampBushingData()
|
inlineoverrideprotectedvirtual |
Return stiffness and damping data for the clamp bushing.
Returning nullptr (default) results in using a kinematic revolute joint.
Reimplemented from chrono::vehicle::ChSAELeafspringAxle.
◆ getLeafspringBushingData()
|
inlineoverrideprotectedvirtual |
Return stiffness and damping data for the leafspring bushing.
Returning nullptr (default) results in using a kinematic revolute joint.
Reimplemented from chrono::vehicle::ChSAELeafspringAxle.
◆ getShackleBushingData()
|
inlineoverrideprotectedvirtual |
Return stiffness and damping data for the shackle bushing.
Returning nullptr (default) results in using a kinematic revolute joint.
Reimplemented from chrono::vehicle::ChSAELeafspringAxle.
◆ getToeAngle()
|
inlineoverrideprotectedvirtual |
Return the toe angle, in radians (default: 0).
A positive value indicates toe-in, a negative value indicates toe-out.
Reimplemented from chrono::vehicle::ChSAELeafspringAxle.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/SAELeafspringAxle.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/SAELeafspringAxle.cpp
