Description

Class to be used as a callback interface for location-dependent soil parameters.

A derived class must implement Set() and set all soil parameters (no defaults are provided).

#include <SCMTerrain.h>

Public Member Functions
virtual void	Set (const ChVector3d &loc, double &Bekker_Kphi, double &Bekker_Kc, double &Bekker_n, double &Mohr_cohesion, double &Mohr_friction, double &Janosi_shear, double &elastic_K, double &damping_R)=0
	Set the soil properties at a given (x,y) location (below the given point). More...

Member Function Documentation

virtual void chrono::vehicle::SCMTerrain::SoilParametersCallback::Set	(	const ChVector3d &	loc,
		double &	Bekker_Kphi,
		double &	Bekker_Kc,
		double &	Bekker_n,
		double &	Mohr_cohesion,
		double &	Mohr_friction,
		double &	Janosi_shear,
		double &	elastic_K,
		double &	damping_R
	)

pure virtual

Set the soil properties at a given (x,y) location (below the given point).

Attention: the location is assumed to be provided in the SCM reference frame!

Parameters

loc	query location
Bekker_Kphi	frictional modulus in Bekker model
Bekker_Kc	cohesive modulus in Bekker model
Bekker_n	exponent of sinkage in Bekker model (usually 0.6...1.8)
Mohr_cohesion	cohesion for shear failure [Pa]
Mohr_friction	friction angle for shear failure [degree]
Janosi_shear	shear parameter in Janosi-Hanamoto formula [m]
elastic_K	elastic stiffness K per unit area, [Pa/m] (must be larger than Kphi)
damping_R	vertical damping R per unit area [Pa.s/m] (proportional to vertical speed)

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