chrono::vehicle::fmtv::FMTV_Wheel Class Reference
Description
FMTV wheel (can be used on any axle, left or right).
#include <FMTV_Wheel.h>
Inheritance diagram for chrono::vehicle::fmtv::FMTV_Wheel:
Collaboration diagram for chrono::vehicle::fmtv::FMTV_Wheel:
Public Member Functions | |
| FMTV_Wheel (const std::string &name) | |
| virtual double | GetWheelMass () const override |
| virtual const ChVector3d & | GetWheelInertia () const override |
| virtual double | GetRadius () const override |
| Get the wheel radius (for visualization only). | |
| virtual double | GetWidth () const override |
| Get the wheel width (for visualization only). | |
 Public Member Functions inherited from chrono::vehicle::ChWheel | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSpindle > spindle, VehicleSide side, double offset=0) |
| Initialize this wheel subsystem by associating it to an existing spindle of a suspension subsystem. More... | |
| void | EnableCollision (bool state) |
| Enable/disable contact for the wheel. More... | |
| void | Synchronize () |
| Synchronize the wheel subsystem. More... | |
| void | Synchronize (const TerrainForce &tire_force) |
| Synchronize the wheel subsystem. More... | |
| std::shared_ptr< ChTire > | GetTire () const |
| Get the tire attached to this wheel. | |
| void | SetTire (std::shared_ptr< ChTire > tire) |
| Associate the given tire with this wheel. | |
| std::shared_ptr< ChSpindle > | GetSpindle () const |
| Get the associated spindle body. | |
| VehicleSide | GetSide () const |
| Get the vehicle side on which this wheel is mounted. | |
| ChVector3d | GetPos () const |
| Get wheel position (expressed in absolute frame). | |
| WheelState | GetState () const |
| Get the current state for this wheel. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the wheel subsystem. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the wheel subsystem. | |
| const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with wheel 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. | |
| 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. | |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
| Export this subsystem's component list to the specified JSON object. More... | |
| virtual void | Output (ChOutput &database) const |
| Output data for this subsystem's component list to the specified database. | |
Static Protected Attributes | |
| static const double | m_radius = 0.254 |
| static const double | m_width = 0.254 |
| static const double | m_mass = 30.0 |
| static const ChVector3d | m_inertia |
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 Member Functions inherited from chrono::vehicle::ChWheel | |
| ChWheel (const std::string &name) | |
| Construct a wheel subsystem with given name. | |
| virtual void | Construct (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSpindle > spindle, VehicleSide side, double offset) |
| Construct the concrete wheel subsystem by associating it to an existing spindle of a suspension subsystem. More... | |
| 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::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... | |
| 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. | |
| 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::ChWheel | |
| std::shared_ptr< ChSpindle > | m_spindle |
| associated suspension spindle body | |
| std::shared_ptr< ChTire > | m_tire |
| attached tire subsystem | |
| VehicleSide | m_side |
| wheel mounted on left/right side | |
| double | m_offset |
| offset from spindle center | |
| std::string | m_vis_mesh_file |
| visualization mesh file (may be empty) | |
| std::shared_ptr< ChVisualShapeTriangleMesh > | m_trimesh_shape |
| visualization mesh asset | |
| std::shared_ptr< ChVisualShape > | m_cyl_shape |
| visualization cylinder asset | |
| 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 | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/FMTV_Wheel.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/mtv/FMTV_Wheel.cpp
