Definition of the RCCar assembly.

This class encapsulates a concrete wheeled vehicle model with parameters corresponding to a RC car, the powertrain model, and the 4 tires. It provides wrappers to access the different systems and subsystems, functions for specifying the tire types, as well as functions for controlling the visualization mode of each component.

#include <RCCar.h>

Collaboration diagram for chrono::vehicle::rccar::RCCar:

Public Member Functions

 RCCar (ChSystem *system)
void SetContactMethod (ChContactMethod val)
void SetChassisFixed (bool val)
void SetChassisCollisionType (CollisionType val)
void SetTireType (TireModelType val)
void SetInitPosition (const ChCoordsys<> &pos)
void SetInitFwdVel (double fwdVel)
void SetInitWheelAngVel (const std::vector< double > &omega)
void SetTireStepSize (double step_size)
ChSystemGetSystem () const
ChWheeledVehicleGetVehicle () const
std::shared_ptr< ChChassisGetChassis () const
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
void Initialize ()
void LockAxleDifferential (int axle, bool lock)
void SetAerodynamicDrag (double Cd, double area, double air_density)
void SetChassisVisualizationType (VisualizationType vis)
void SetSuspensionVisualizationType (VisualizationType vis)
void SetSteeringVisualizationType (VisualizationType vis)
void SetWheelVisualizationType (VisualizationType vis)
void SetTireVisualizationType (VisualizationType vis)
void SetMaxMotorVoltageRatio (double voltage_ratio)
 Set parameters for tuning engine map.
void SetStallTorque (double stall_torque)
 Set stall torque.
void SetTireRollingResistance (double rolling_resistance)
 Set tire rolling friction coefficient.
void Synchronize (double time, const DriverInputs &driver_inputs, const ChTerrain &terrain)
void Advance (double step)
void LogHardpointLocations ()
void DebugLog (int what)

Protected Attributes

ChContactMethod m_contactMethod
CollisionType m_chassisCollisionType
bool m_fixed
TireModelType m_tireType
double m_tire_step_size
ChCoordsys m_initPos
double m_initFwdVel
std::vector< double > m_initOmega
bool m_apply_drag
double m_Cd
double m_area
double m_air_density
double m_tire_mass
double m_stall_torque
double m_voltage_ratio
double m_rolling_friction_coeff

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/rccar/RCCar.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/rccar/RCCar.cpp