Description

Ground vehicle modeling and simulation.

This module introduces template-based modeling tools for creating wheeled and tracked vehicles.

For additional information, see:

the installation guide
the tutorials

Collaboration diagram for VEHICLE module:

Modules
	Driver system

	Powertrain system

	Terrain system

	Utility classes

	Run-time visualization

	Wheeled vehicles
	Wheeled vehicle subsystems.

	Tracked vehicles
	Tracked vehicle subsystems.

	Co-simulation
	Co-simulation support for vehicle-terrain interaction.

Namespaces
	chrono::vehicle
	Namespace with classes for the VEHICLE module.

	chrono::vehicle::WheeledCollisionFamily
	Enumerations for wheeled vehicle collision families.

	chrono::vehicle::TrackedCollisionFlag
	Enumerations for track collision flags.

	chrono::vehicle::TrackedCollisionFamily
	Enumerations for tracked vehicle collision families.

Classes
class	chrono::vehicle::ChassisConnectorArticulated
	Articulated chassis connector model constructed with data from file (JSON format). More...

class	chrono::vehicle::ChassisConnectorFifthWheel
	Fifth wheel chassis connector model constructed with data from file (JSON format). More...

class	chrono::vehicle::ChassisConnectorHitch
	Hitch chassis connector model constructed with data from file (JSON format). More...

class	chrono::vehicle::ChassisConnectorTorsion
	Torsion chassis connector model constructed with data from file (JSON format). More...

class	chrono::vehicle::ChChassisConnectorArticulated
	Template for an articulation chassis connector. More...

class	chrono::vehicle::ChChassisConnectorFifthWheel
	Template for a fifth-wheel chassis connector. More...

class	chrono::vehicle::ChChassisConnectorHitch
	Template for a hitch chassis connector. This is a passive connector, modeled with a spherical joint. More...

class	chrono::vehicle::ChChassisConnectorTorsion
	Template for a torsion chassis connector. More...

class	chrono::vehicle::ChRigidChassis
	Template for a rigid-body main chassis vehicle subsystem. More...

class	chrono::vehicle::ChRigidChassisRear
	Template for a rigid-body rear chassis vehicle subsystem. More...

class	chrono::vehicle::RigidChassis
	Vehicle rigid chassis model constructed with data from file (JSON format). More...

class	chrono::vehicle::RigidChassisRear
	Vehicle rigid rear chassis model constructed with data from file (JSON format). More...

class	chrono::vehicle::ChChassis
	Base class for the chassis vehicle subsystem. More...

class	chrono::vehicle::ChChassisRear
	Base class for a rear chassis vehicle subsystem. More...

class	chrono::vehicle::ChChassisConnector
	Base class for a chassis connector subsystem. More...

class	chrono::vehicle::ChDriveline
	Base class for a vehicle driveline subsystem. More...

class	chrono::vehicle::ChPart
	Base class for a vehicle subsystem. More...

struct	chrono::vehicle::BodyState
	Structure to communicate a full body state. More...

struct	chrono::vehicle::WheelState
	Structure to communicate a full wheel body state. More...

struct	chrono::vehicle::TerrainForce
	Structure to communicate a set of generalized terrain contact forces (tire or track shoe). More...

struct	chrono::vehicle::DriverInputs
	Driver (vehicle control) inputs. More...

class	chrono::vehicle::SpringForce
	Base class for linear and nonlinear translational spring forces. More...

class	chrono::vehicle::LinearSpringForce
	Utility class for specifying a linear translational spring force with pre-tension. More...

class	chrono::vehicle::NonlinearSpringForce
	Utility class for specifying a nonlinear translational spring force with pre-tension. More...

class	chrono::vehicle::LinearDamperForce
	Utility class for specifying a linear translational damper force. More...

class	chrono::vehicle::NonlinearDamperForce
	Utility class for specifying a nonlinear translational damper force. More...

class	chrono::vehicle::DegressiveDamperForce
	Utility class for specifying a degressive translational damper force. More...

class	chrono::vehicle::LinearSpringDamperForce
	Utility class for specifying a linear translational spring-damper force with pre-tension. More...

class	chrono::vehicle::NonlinearSpringDamperForce
	Utility class for specifying a nonlinear translational spring-damper force with pre-tension. More...

class	chrono::vehicle::MapSpringDamperForce
	Utility class for specifying a general nonlinear translational spring-damper force with pre-tension. More...

class	chrono::vehicle::LinearSpringTorque
	Utility class for specifying a linear rotational spring torque. More...

class	chrono::vehicle::NonlinearSpringTorque
	Utility class for specifying a nonlinear rotational spring torque. More...

class	chrono::vehicle::LinearDamperTorque
	Utility class for specifying a linear rotational damper torque. More...

class	chrono::vehicle::NonlinearDamperTorque
	Utility class for specifying a nonlinear rotational damper torque. More...

class	chrono::vehicle::LinearSpringDamperTorque
	Utility class for specifying a linear rotational spring-damper torque. More...

class	chrono::vehicle::NonlinearSpringDamperTorque
	Utility class for specifying a nonlinear rotational spring-damper torque. More...

class	chrono::vehicle::ChVehicle
	Base class for chrono vehicle systems. More...

struct	chrono::vehicle::ChVehicleBushingData
	Stiffness and damping data for a vehicle bushing specification. More...

class	chrono::vehicle::ChVehicleJoint
	Wrapper class for a joint in a vehicle system which can be either a kinematic joint or a bushing. More...

class	chrono::vehicle::ChVehicleOutput
	Base class for a vehicle output database. More...

class	chrono::vehicle::ChWorldFrame
	Definition of the world frame for Chrono::Vehicle simulations. More...

class	chrono::vehicle::ChVehicleOutputASCII
	ASCII text vehicle output database. More...

class	chrono::vehicle::ChVehicleOutputHDF5
	HDF5 vehicle output database. More...

Typedefs
typedef std::vector< std::shared_ptr< ChChassisRear > >	chrono::vehicle::ChChassisRearList
	Vector of handles to rear chassis subsystems.

typedef std::vector< std::shared_ptr< ChChassisConnector > >	chrono::vehicle::ChChassisConnectorList
	Vector of handles to rear chassis subsystems.

typedef std::vector< BodyState >	chrono::vehicle::BodyStates
	Vector of body state structures.

typedef std::vector< WheelState >	chrono::vehicle::WheelStates
	Vector of wheel state structures.

typedef std::vector< TerrainForce >	chrono::vehicle::TerrainForces
	Vector of terrain conatct force structures.

Enumerations
enum	chrono::vehicle::VehicleSide { chrono::vehicle::LEFT = 0, chrono::vehicle::RIGHT = 1 }
	Enum for the side (left/right) of a vehicle. More...

enum	chrono::vehicle::WheelLocation { chrono::vehicle::SINGLE = 0, chrono::vehicle::INNER = 1, chrono::vehicle::OUTER = 2 }
	Enum for wheel location on spindle. More...

enum	chrono::vehicle::TireModelType { chrono::vehicle::TireModelType::RIGID, chrono::vehicle::TireModelType::RIGID_MESH, chrono::vehicle::TireModelType::FIALA, chrono::vehicle::TireModelType::ANCF, chrono::vehicle::TireModelType::REISSNER, chrono::vehicle::TireModelType::FEA, chrono::vehicle::TireModelType::PAC89, chrono::vehicle::TireModelType::TMEASY, chrono::vehicle::TireModelType::PAC02, chrono::vehicle::TireModelType::TMSIMPLE }
	Enum for available tire models. More...

enum	chrono::vehicle::EngineModelType { chrono::vehicle::EngineModelType::SHAFTS, chrono::vehicle::EngineModelType::SIMPLE_MAP, chrono::vehicle::EngineModelType::SIMPLE }
	Enum for available engine model templates. More...

enum	chrono::vehicle::TransmissionModelType { chrono::vehicle::TransmissionModelType::AUTOMATIC_SHAFTS, chrono::vehicle::TransmissionModelType::AUTOMATIC_SIMPLE_MAP, chrono::vehicle::TransmissionModelType::AUTOMATIC_SIMPLE_CVT, chrono::vehicle::TransmissionModelType::MANUAL_SHAFTS }
	Enum for available transmission model templates. More...

enum	chrono::vehicle::SuspensionTypeWV { chrono::vehicle::SuspensionTypeWV::DEDION_AXLE, chrono::vehicle::SuspensionTypeWV::DOUBLE_WISHBONE, chrono::vehicle::SuspensionTypeWV::DOUBLE_WISHBONE_REDUCED, chrono::vehicle::SuspensionTypeWV::HENDRICKSON_PRIMAXX, chrono::vehicle::SuspensionTypeWV::LEAF_SPRING_AXLE, chrono::vehicle::SuspensionTypeWV::SAE_LEAF_SPRING_AXLE, chrono::vehicle::SuspensionTypeWV::MACPHERSON_STRUT, chrono::vehicle::SuspensionTypeWV::MULTI_LINK, chrono::vehicle::SuspensionTypeWV::RIGID_PINNED, chrono::vehicle::SuspensionTypeWV::RIGID_SUSPENSION, chrono::vehicle::SuspensionTypeWV::SEMI_TRAILING_ARM, chrono::vehicle::SuspensionTypeWV::SOLID_AXLE, chrono::vehicle::SuspensionTypeWV::SOLID_THREE_LINK_AXLE, chrono::vehicle::SuspensionTypeWV::SOLID_BELLCRANK_THREE_LINK_AXLE, chrono::vehicle::SuspensionTypeWV::THREE_LINK_IRS, chrono::vehicle::SuspensionTypeWV::TOE_BAR_LEAF_SPRING_AXLE, chrono::vehicle::SuspensionTypeWV::SAE_TOE_BAR_LEAF_SPRING_AXLE, chrono::vehicle::SuspensionTypeWV::PUSHPIPE_AXLE, chrono::vehicle::SuspensionTypeWV::TOEBAR_DEDION_AXLE, chrono::vehicle::SuspensionTypeWV::TOEBAR_PUSHPIPE_AXLE }
	Enum for available wheeled-vehicle suspension model templates. More...

enum	chrono::vehicle::BrakeType { chrono::vehicle::BrakeType::SHAFTS, chrono::vehicle::BrakeType::SIMPLE }
	Enum for available brake model templates. More...

enum	chrono::vehicle::SteeringTypeWV { chrono::vehicle::SteeringTypeWV::PITMAN_ARM, chrono::vehicle::SteeringTypeWV::PITMAN_ARM_SHAFTS, chrono::vehicle::SteeringTypeWV::RACK_PINION }
	Enum for available wheeled-vehicle steering model templates. More...

enum	chrono::vehicle::DrivelineTypeWV { chrono::vehicle::DrivelineTypeWV::FWD, chrono::vehicle::DrivelineTypeWV::RWD, chrono::vehicle::DrivelineTypeWV::AWD, chrono::vehicle::DrivelineTypeWV::AWD6, chrono::vehicle::DrivelineTypeWV::AWD8, chrono::vehicle::DrivelineTypeWV::SIMPLE, chrono::vehicle::DrivelineTypeWV::SIMPLE_XWD }
	Enum for wheeled-vehicle driveline types. More...

enum	chrono::vehicle::DrivelineTypeTV { chrono::vehicle::DrivelineTypeTV::BDS, chrono::vehicle::DrivelineTypeTV::SIMPLE }
	Enum for tracked-vehicle driveline types. More...

enum	chrono::vehicle::TrackShoeType { chrono::vehicle::TrackShoeType::SINGLE_PIN, chrono::vehicle::TrackShoeType::DOUBLE_PIN, chrono::vehicle::TrackShoeType::BAND_BUSHING, chrono::vehicle::TrackShoeType::BAND_ANCF }
	Enum for track shoe types. More...

enum	chrono::vehicle::DoublePinTrackShoeType { chrono::vehicle::DoublePinTrackShoeType::TWO_CONNECTORS, chrono::vehicle::DoublePinTrackShoeType::ONE_CONNECTOR }
	Topology of the double-pin track shoe. More...

enum	chrono::vehicle::GuidePinType { chrono::vehicle::GuidePinType::CENTRAL_PIN, chrono::vehicle::GuidePinType::LATERAL_PIN }
	Enum for guide pin (track shoe/roadwheel/idler). More...

enum	chrono::vehicle::OutputInformation { chrono::vehicle::OUT_SPRINGS = 1 << 0, chrono::vehicle::OUT_SHOCKS = 1 << 1, chrono::vehicle::OUT_CONSTRAINTS = 1 << 2, chrono::vehicle::OUT_TESTRIG = 1 << 3 }
	Flags for output (log/debug). More...

enum	chrono::vehicle::TrackedVehicleBodyTag { CHASSIS_BODY = -99990, SPROCKET_BODY = -99991, IDLER_BODY = -99992, WHEEL_BODY = -99993, ROLER_BODY = -99994, SHOE_BODY = -99995 }
	Tags for specific component bodies.

Functions
void	chrono::vehicle::SetDataPath (const std::string &path)
	Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).

const std::string &	chrono::vehicle::GetDataPath ()
	Get the current path to the Chrono::Vehicle data directory (thread safe).

std::string	chrono::vehicle::GetDataFile (const std::string &filename)
	Get the complete path to the specified filename (thread safe). More...

Enumeration Type Documentation

◆ BrakeType

enum chrono::vehicle::BrakeType

strong

Enum for available brake model templates.

Enumerator
SHAFTS	brake model using a clutch between two shafts
SIMPLE	brake model using a simple speed-dependent torque

◆ DoublePinTrackShoeType

enum chrono::vehicle::DoublePinTrackShoeType

strong

Topology of the double-pin track shoe.

The "full" double-pin track shoe mechanism uses separate bodies for the left and right connector bodies. The "reduced" model uses a single connector body. The mass and inertia of the composite connector body in the reduced model are calculated based on the provided values for an individual connector body. Furthermore, the collision geometry is the same, meaning both models of a double-pin track shoe can interact with the same type of sprocket.

Enumerator
TWO_CONNECTORS	two connector bodies
ONE_CONNECTOR	one connector body

◆ DrivelineTypeTV

enum chrono::vehicle::DrivelineTypeTV

strong

Enum for tracked-vehicle driveline types.

Enumerator
BDS	braked differential steering
SIMPLE	simple kinematic driveline

◆ DrivelineTypeWV

enum chrono::vehicle::DrivelineTypeWV

strong

Enum for wheeled-vehicle driveline types.

Enumerator
FWD	front-wheel drive
RWD	rear-wheel drive
AWD	all-wheel drive (4x4)
AWD6	all-wheel drive (6x4 / 6x6 locked)
AWD8	all-wheel drive (8x8)
SIMPLE	simple kinematic driveline
SIMPLE_XWD	simple kinematic driveline for more than 2 axles

◆ EngineModelType

enum chrono::vehicle::EngineModelType

strong

Enum for available engine model templates.

Enumerator
SHAFTS	engine model based on ChShaft elements
SIMPLE_MAP	simple model based on engine maps
SIMPLE	simple engine model (similar to a DC motor)

◆ GuidePinType

enum chrono::vehicle::GuidePinType

strong

Enum for guide pin (track shoe/roadwheel/idler).

Enumerator
CENTRAL_PIN	track shoes with central guiding pin and double wheels
LATERAL_PIN	track shoes with lateral guiding pins and single wheels

◆ OutputInformation

enum chrono::vehicle::OutputInformation

Flags for output (log/debug).

These flags can be bit-wise ORed and used as a mask.

Enumerator
OUT_SPRINGS	suspension spring information
OUT_SHOCKS	suspension shock information
OUT_CONSTRAINTS	constraint violation information
OUT_TESTRIG	test-rig specific information

◆ SteeringTypeWV

enum chrono::vehicle::SteeringTypeWV

strong

Enum for available wheeled-vehicle steering model templates.

Enumerator
PITMAN_ARM	Pitman arm (input to revolute joint)
PITMAN_ARM_SHAFTS	Pitman arm with compliant column (input to steering wheel)
RACK_PINION	rack-pinion (input to pinion)

◆ SuspensionTypeWV

enum chrono::vehicle::SuspensionTypeWV

strong

Enum for available wheeled-vehicle suspension model templates.

Enumerator
DEDION_AXLE	DeDion Axle.
DOUBLE_WISHBONE	double wishbone
DOUBLE_WISHBONE_REDUCED	simplified double wishbone (constraint-based)
HENDRICKSON_PRIMAXX	Hendrickson PRIMAXX (walking beam)
LEAF_SPRING_AXLE	leaf-spring solid axle
SAE_LEAF_SPRING_AXLE	leaf-spring solid axle with kinematic leaf-spring model
MACPHERSON_STRUT	MacPherson strut.
MULTI_LINK	multi-link
RIGID_PINNED	pinned rigid beam
RIGID_SUSPENSION	rigid suspension
SEMI_TRAILING_ARM	semi trailing arm
SOLID_AXLE	solid axle
SOLID_THREE_LINK_AXLE	rigid suspension + 3 guiding links
SOLID_BELLCRANK_THREE_LINK_AXLE	rigid suspension + 3 guiding links + bellcrank steering mechanism
THREE_LINK_IRS	three-link independent rear suspension
TOE_BAR_LEAF_SPRING_AXLE	steerable leaf-spring solid axle
SAE_TOE_BAR_LEAF_SPRING_AXLE	steerable leaf-spring solid axle with kinematic leaf-spring model
PUSHPIPE_AXLE	solid axle with pushpipe and panhard rod
TOEBAR_DEDION_AXLE	steerable DeDion Axle
TOEBAR_PUSHPIPE_AXLE	steerable solid axle with pushpipe and panhard rod

◆ TireModelType

enum chrono::vehicle::TireModelType

strong

Enum for available tire models.

Enumerator
RIGID	rigid tire (cylindrical)
RIGID_MESH	rigid tire (mesh)
FIALA	Fiala tire.
ANCF	ANCF shell element-based tire.
REISSNER	Reissner 6-field shell element-based tire.
FEA	FEA co-rotational tire.
PAC89	Pacejka 89 (magic formula) tire, version 1989.
TMEASY	Tire Model Made Easy tire (G. Rill)
PAC02	Pacejka 02 (magic formula) tire, version 2002 or later.
TMSIMPLE	Tire Model Simple (W. Hirschberg)

◆ TrackShoeType

enum chrono::vehicle::TrackShoeType

strong

Enum for track shoe types.

Enumerator
SINGLE_PIN	single-pin track shoe and sprocket
DOUBLE_PIN	double-pin track shoe and sprocket
BAND_BUSHING	rigid tooth-rigid web continuous band track shoe and sprocket
BAND_ANCF	rigid tooth-ANCF web continuous band track shoe and sprocket

◆ TransmissionModelType

enum chrono::vehicle::TransmissionModelType

strong

Enum for available transmission model templates.

Enumerator
AUTOMATIC_SHAFTS	automatic transmission model based of ChShaft elements
AUTOMATIC_SIMPLE_MAP	automatic transmission model based on TC maps
AUTOMATIC_SIMPLE_CVT	automatic transmission model based on CVT design
MANUAL_SHAFTS	manual transmission model based on ChShaft elements

◆ VehicleSide

enum chrono::vehicle::VehicleSide

Enum for the side (left/right) of a vehicle.

Enumerator
LEFT	left side of vehicle is always 0
RIGHT	right side of vehicle is always 1

◆ WheelLocation

enum chrono::vehicle::WheelLocation

Enum for wheel location on spindle.

Enumerator
SINGLE	wheel on one side of a single-wheel axle
INNER	inner wheel on one side of a double-wheel axle
OUTER	outer wheel on one side of a double-wheel axle

Function Documentation

◆ GetDataFile()

CH_VEHICLE_API std::string chrono::vehicle::GetDataFile ( const std::string & filename )

Get the complete path to the specified filename (thread safe).

The filename is assumed to be given relative to the Chrono::Vehicle model data directory.

Description

Modules

Namespaces

Classes

Typedefs

Enumerations

Functions

Enumeration Type Documentation

◆ BrakeType

◆ DoublePinTrackShoeType

◆ DrivelineTypeTV

◆ DrivelineTypeWV

◆ EngineModelType

◆ GuidePinType

◆ OutputInformation

◆ SteeringTypeWV

◆ SuspensionTypeWV

◆ TireModelType

◆ TrackShoeType

◆ TransmissionModelType

◆ VehicleSide

◆ WheelLocation

Function Documentation

◆ GetDataFile()