chrono::vehicle Namespace Reference

Description

Namespace with classes for the VEHICLE module.

Namespaces

 artcar
 Namespace for the artcar vehicle model.
 
 citybus
 Namespace for the bus vehicle model.
 
 duro
 namespace for the Duro vehicle model
 
 feda
 Namespace for the FED-alpha vehicle model.
 
 fmtv
 Namespace for the FMTV vehicle models.
 
 gator
 Namespace for the Gator vehicle model.
 
 gclass
 namespace for the Mercedes G500 vehicle model
 
 generic
 Namespace for the generic wheeled vehicle model.
 
 hmmwv
 Namespace for the HMMWV vehicle model.
 
 kraz
 namespace for the Kraz truck vehicle model
 
 m113
 Namespace for the M113 track vehicle model.
 
 man
 Namespace for the MAN truck vehicle models.
 
 marder
 Namespace for the Marder track vehicle model.
 
 mrole
 Namespace for the MROLE multi-purpose wheeled vehicle model.
 
 sedan
 Namespace for the passenger vehicle model.
 
 TrackedCollisionFamily
 Enumerations for tracked vehicle collision families.
 
 TrackedCollisionFlag
 Enumerations for track collision flags.
 
 uaz
 Namespace for the UAZ vehicle model.
 
 unimog
 namespace for the Unimog 401 vehicle model
 
 WheeledCollisionFamily
 Enumerations for wheeled vehicle collision families.
 

Classes

class  AIDriver
 Driver. More...
 
class  ANCFTire
 ANCF tire constructed with data from file (JSON format). More...
 
class  AntirollBarRSD
 RSD antirollbar model constructed with data from file (JSON format). More...
 
class  AutomaticTransmissionShafts
 Shafts-based automatic transmission subsystem (specified through JSON file). More...
 
class  AutomaticTransmissionSimpleMap
 Automatic transmission model template based on a simple gear-shifting model (specified through JSON file). More...
 
class  Balancer
 Balancer subchassis system constructed with data from file. More...
 
struct  BodyState
 Structure to communicate a full body state. More...
 
class  BrakeShafts
 Wheeled vehicle shafts-based brake model constructed with data from file (JSON format). More...
 
class  BrakeSimple
 Vehicle simple brake model constructed with data from file (JSON format). More...
 
class  ChAdaptiveSpeedController
 Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
 
class  ChAIDriver
 Driver. More...
 
class  ChANCFTire
 ANCF tire template. More...
 
class  ChAntirollBar
 Base class for an anti-roll bar subsystem. More...
 
class  ChAntirollBarRSD
 Template for an anti-roll subsystem using an RSD. More...
 
class  ChassisConnectorArticulated
 Articulated chassis connector model constructed with data from file (JSON format). More...
 
class  ChassisConnectorHitch
 Hitch chassis connector model constructed with data from file (JSON format). More...
 
class  ChassisConnectorTorsion
 Torsion chassis connector model constructed with data from file (JSON format). More...
 
class  ChAutomaticTransmissionShafts
 Template for an automatic transmission model using shaft elements. More...
 
class  ChAutomaticTransmissionSimpleMap
 Template for an automatic transmission model based on a simple gear-shifting model. More...
 
class  ChAxle
 Base class for a suspension subsystem. More...
 
class  ChBalancer
 Template for a balancer subchassis system. More...
 
class  ChBrake
 Base class for a brake subsystem. More...
 
class  ChBrakeShafts
 Brake for wheeled vehicles modeled using a clutch between two shafts. More...
 
class  ChBrakeSimple
 Template for a simple brake subsystem. More...
 
class  ChChassis
 Base class for the chassis vehicle subsystem. More...
 
class  ChChassisConnector
 Base class for a chassis connector subsystem. More...
 
class  ChChassisConnectorArticulated
 Template for an articulation chassis connector. More...
 
class  ChChassisConnectorHitch
 Template for a hitch chassis connector. This is a passive connector, modeled with a spherical joint. More...
 
class  ChChassisConnectorTorsion
 Template for a torsion chassis connector. More...
 
class  ChChassisRear
 Base class for a rear chassis vehicle subsystem. More...
 
class  ChClosedLoopDriver
 Base class for closed-loop path-follower driver modesl. More...
 
class  ChDataDriver
 Driver inputs from data file. More...
 
class  ChDeDionAxle
 Base class for a DeDion solid axle suspension. More...
 
class  ChDeformableTire
 Base class for a deformable tire model. More...
 
class  ChDistanceIdler
 Base class for an idler subsystem with a fixed distance tensioner. More...
 
class  ChDoubleTrackWheel
 Base class for a double track wheel (template definition). More...
 
class  ChDoubleWishbone
 Base class for a double-A arm suspension modeled with bodies and constraints. More...
 
class  ChDoubleWishboneReduced
 Base class for a double-A arm suspension modeled with distance constraints. More...
 
class  ChDriveline
 Base class for a vehicle driveline subsystem. More...
 
class  ChDrivelineTV
 Base class for a tracked vehicle driveline. More...
 
class  ChDrivelineWV
 Base class for a wheeled vehicle driveline subsystem. More...
 
class  ChDriver
 Base class for a vehicle driver system. More...
 
class  ChEngine
 Base class for an engine subsystem. More...
 
class  ChEngineShafts
 Template for an engine model using shaft elements. More...
 
class  ChEngineSimple
 Template for simplified engine model. More...
 
class  ChEngineSimpleMap
 Template for simple engine model based on speed-torque engine maps. More...
 
class  ChExternalDriver
 Driver. More...
 
class  ChFEATire
 Co-rotational FEA tire template. More...
 
class  ChFialaTire
 Fiala based tire model. More...
 
class  ChForceElementTire
 Base class for a force element (handling) tire model. More...
 
class  ChGenericWheeledSuspension
 Base class for a generic wheeled vehicle suspension. More...
 
class  ChHendricksonPRIMAXX
 Base class for a Hendrickson PRIMAXX EX suspension. More...
 
class  ChHumanDriver
 Closed-loop path-follower and speed maintaining driver model. More...
 
class  ChIdler
 Base class for an idler subsystem. More...
 
class  ChInteractiveDriver
 Interactive driver for the a vehicle. More...
 
class  ChInteractiveDriverIRR
 Irrlicht-based interactive driver for the a vehicle. More...
 
class  ChInteractiveDriverVSG
 VSG-based interactive driver for the a vehicle. More...
 
struct  ChJoystickAxisIRR
 Irrlicht interface to a specific joystick axis and its calibration data. More...
 
struct  ChJoystickButtonIRR
 Irrlicht interface to a specific joystick button. More...
 
class  ChJSONWriter
 This is a helper class to generate serialized JSON messages that can be passed to/from Chrono. More...
 
class  ChLeafspringAxle
 Base class for a leaf-spring solid axle suspension. More...
 
class  ChMacPhersonStrut
 Base class for a MacPherson strut modeled with bodies and constraints. More...
 
class  ChManualTransmissionShafts
 Template for a manual transmission model using shaft elements. More...
 
class  ChMapData
 Utility class for reading and setting an (x,y) map. More...
 
class  ChMultiLink
 Base class for a multi-link suspension modeled with bodies and constraints. More...
 
class  ChPac02Tire
 Pacjeka 02 tire model. More...
 
class  ChPac89Tire
 Pacjeka 89 tire model. More...
 
class  ChPart
 Base class for a vehicle subsystem. More...
 
class  ChPathFollowerACCDriver
 Closed-loop path-follower driver model. More...
 
class  ChPathFollowerDriver
 Path-following driver system using a default PID lateral steering controller. More...
 
class  ChPathFollowerDriverSR
 Path-following driver system using a P-like lateral steering controller with variable path prediction. More...
 
class  ChPathFollowerDriverStanley
 Path-following driver system using a lateral steering controller as used on the Stanley AV. More...
 
class  ChPathFollowerDriverXT
 Path-following driver system using an extended PID lateral steering controller. More...
 
class  ChPathSteeringController
 Path-following steering PID controller. More...
 
class  ChPathSteeringControllerSR
 Path-following steering P-like controller with variable path prediction. More...
 
class  ChPathSteeringControllerStanley
 "Stanley" path-following ontroller named after an autonomous vehicle called Stanley. More...
 
class  ChPathSteeringControllerXT
 Path-following steering 3(2) channel PDT1/PT1 controller. More...
 
class  ChPitmanArm
 Base class for a Pitman Arm steering subsystem. More...
 
class  ChPitmanArmShafts
 Base class for a Pitman Arm steering subsystem with compliant steering column. More...
 
class  ChPowertrainAssembly
 Defintion of a powertrain assembly system. More...
 
class  ChPushPipeAxle
 Base class for a DeDion solid axle suspension. More...
 
class  ChRackPinion
 Base class for a Rack-Pinion steering subsystem. More...
 
class  ChReissnerTire
 Tire template for tires based on Reissner shells. More...
 
class  ChRigidChassis
 Template for a rigid-body main chassis vehicle subsystem. More...
 
class  ChRigidChassisRear
 Template for a rigid-body rear chassis vehicle subsystem. More...
 
class  ChRigidPanhardAxle
 Base class for a solid Panhard axle suspension. More...
 
class  ChRigidPinnedAxle
 Base class for a rigid suspension with a pinned axle. More...
 
class  ChRigidSuspension
 Base class for a rigid suspension, i.e. More...
 
class  ChRigidTire
 Rigid tire model. More...
 
class  ChRotaryArm
 Base class for a Toe Bar steering subsystem. More...
 
class  ChRotationalDamperSuspension
 Base class for a torsion-bar suspension system using a rotational damper (template definition). More...
 
class  ChSAELeafspringAxle
 Base class for a leaf-spring solid axle suspension. More...
 
class  ChSemiTrailingArm
 Base class for a semi-trailing arm suspension (non-steerable). More...
 
class  ChShaftsDriveline2WD
 2WD driveline model template based on ChShaft objects. More...
 
class  ChShaftsDriveline4WD
 4WD driveline model template based on ChShaft objects. More...
 
class  ChShaftsDriveline6WD
 4WD driveline model template based on ChShaft objects. More...
 
class  ChShaftsDriveline8WD
 4WD driveline model template based on ChShaft objects. More...
 
class  ChSimpleDriveline
 Simple driveline model. More...
 
class  ChSimpleDrivelineXWD
 Simple driveline model. More...
 
class  ChSimpleTrackDriveline
 Simple driveline model for a tracked vehicle. More...
 
class  ChSingleTrackWheel
 Base class for a single track wheel (template definition). More...
 
class  ChSingleWishbone
 Base class for a double-A arm suspension modeled with bodies and constraints. More...
 
class  ChSolidAxle
 Base class for a solid axle suspension modeled with bodies and constraints. More...
 
class  ChSolidBellcrankThreeLinkAxle
 Base class for a coil-spring or air-spring solid axle suspension, typically combined with the rotary arm steering. More...
 
class  ChSolidThreeLinkAxle
 Base class for a coil-spring or air-spring solid axle suspension. More...
 
class  ChSpeedController
 Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
 
class  ChSprocket
 Base class for a tracked vehicle sprocket. More...
 
class  ChSprocketBand
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketDoublePin
 Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
 
class  ChSprocketSinglePin
 Base class for a sprocket template with gear profile composed of circular arcs. More...
 
class  ChSteering
 Base class for a steering subsystem. More...
 
class  ChSteeringController
 Base class for all steering path-following PID controllers. More...
 
class  ChSubchassis
 Base class for a sub-chassis system for wheeled vehicles. More...
 
class  ChSuspension
 Base class for a suspension subsystem. More...
 
class  ChSuspensionTestRig
 Base class for a suspension test rig. More...
 
class  ChSuspensionTestRigDataDriver
 Driver inputs for a suspension test rig from data file. More...
 
class  ChSuspensionTestRigDriver
 Base class for a suspension test rig driver system. More...
 
class  ChSuspensionTestRigInteractiveDriverIRR
 Irrlicht-based GUI driver for the a suspension test rig. More...
 
class  ChSuspensionTestRigInteractiveDriverVSG
 VSG-based GUI driver for the a suspension test rig. More...
 
class  ChSuspensionTestRigPlatform
 Definition of a suspension test rig using platforms to actuate the tires. More...
 
class  ChSuspensionTestRigPushrod
 Definition of a suspension test rig with direct actuation on the spindle bodies. More...
 
class  ChTerrain
 Base class for a terrain system. More...
 
class  ChThreeLinkIRS
 Base class for a 3-link independent rear suspension (non-steerable). More...
 
class  ChTire
 Base class for a tire system. More...
 
class  ChTireTestRig
 Definition of a single-tire test rig. More...
 
class  ChToeBarDeDionAxle
 Base class for a steerable leaf-spring solid axle suspension. More...
 
class  ChToeBarLeafspringAxle
 Base class for a steerable leaf-spring solid axle suspension. More...
 
class  ChToeBarPushPipeAxle
 Base class for a steerable leaf-spring solid axle suspension. More...
 
class  ChToeBarRigidPanhardAxle
 Base class for a steerable solid Panhard axle suspension. More...
 
class  ChTrackAssembly
 Definition of a track assembly. More...
 
class  ChTrackAssemblyBand
 Definition of a continuous band track assembly. More...
 
class  ChTrackAssemblyBandANCF
 Definition of a continuous band track assembly using an ANCFshell-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...
 
class  ChTrackAssemblyBandBushing
 Definition of a continuous band track assembly using a bushing-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...
 
class  ChTrackAssemblyDoublePin
 Definition of a double-pin track assembly. More...
 
class  ChTrackAssemblySegmented
 Base class for segmented track assemblies. More...
 
class  ChTrackAssemblySinglePin
 Definition of a single-pin track assembly. More...
 
class  ChTrackBrake
 Base class for a tracked vehicle brake subsystem. More...
 
class  ChTrackBrakeShafts
 Brake for tracked vehicles modeled using a clutch between two shafts. More...
 
class  ChTrackBrakeSimple
 Simple brake created with constant torque opposing sprocket rotation. More...
 
class  ChTrackContactManager
 Class for monitoring contacts of tracked vehicle subsystems. More...
 
class  ChTrackCustomContact
 Callback interface for user-defined custom contact between road wheels and track shoes. More...
 
class  ChTrackDrivelineBDS
 Track driveline model template based on ChShaft objects. More...
 
class  ChTrackedVehicle
 Base class for chrono tracked vehicle systems. More...
 
class  ChTrackedVehicleVisualSystemIrrlicht
 Customized Chrono Irrlicht visualization system for tracked vehicle simulation. More...
 
class  ChTrackedVehicleVisualSystemVSG
 Customized Chrono::VSG visualization system for tracked vehicle simulation. More...
 
class  ChTrackShoe
 Base class for a track shoe. More...
 
class  ChTrackShoeBand
 Base class for continuous band track shoes using rigid treads. More...
 
class  ChTrackShoeBandANCF
 Base class for a continuous band track shoe using an ANCFshell-based web. More...
 
class  ChTrackShoeBandBushing
 Base class for a continuous band track shoe using a bushing-based web. More...
 
class  ChTrackShoeDoublePin
 Base class for a double-pin track shoe (template definition). More...
 
class  ChTrackShoeSegmented
 Base class for segmented track shoes. More...
 
class  ChTrackShoeSinglePin
 Base class for a single-pin track shoe (template definition). More...
 
class  ChTrackSuspension
 Base class for a tracked vehicle suspension subsystem. More...
 
class  ChTrackTestRig
 Definition of a suspension test rig. More...
 
class  ChTrackTestRigDataDriver
 Driver inputs for a track test rig from data file. More...
 
class  ChTrackTestRigDriver
 Base class for a track test rig driver system. More...
 
class  ChTrackTestRigInteractiveDriverIRR
 Irrlicht-based GUI driver for the a track test rig. More...
 
class  ChTrackTestRigInteractiveDriverVSG
 VSG-based GUI driver for the a track test rig. More...
 
class  ChTrackTestRigRoadDriver
 Driver inputs for a track test rig based on road profile. More...
 
class  ChTrackTestRigVisualSystemIrrlicht
 Customized Chrono Irrlicht application for track test rig visualization. More...
 
class  ChTrackWheel
 Base class for a track wheel subsystem. More...
 
class  ChTranslationalDamperSuspension
 Base class for a torsion-bar suspension system using linear dampers (template definition). More...
 
class  ChTranslationalIdler
 Base class for an idler subsystem with a translational tensioner. More...
 
class  ChTransmission
 Base class for a transmission subsystem. More...
 
class  ChTSDAGeometry
 Utility class defining visualization geometry for a vehicle TSDA. More...
 
class  ChVehicle
 Base class for chrono vehicle systems. More...
 
struct  ChVehicleBushingData
 Stiffness and damping data for a vehicle bushing specification. More...
 
class  ChVehicleCosimBaseNode
 Base class for a co-simulation node. More...
 
class  ChVehicleCosimCuriosityNode
 Curiosity rover co-simulation node. More...
 
class  ChVehicleCosimDBPRig
 Base class for a drawbar-pull rig mechanism. More...
 
class  ChVehicleCosimDBPRigImposedAngVel
 Drawbar-pull rig mechanism with imposed angular velocity. More...
 
class  ChVehicleCosimDBPRigImposedSlip
 Drawbar-pull rig mechanism with imposed slip. More...
 
class  ChVehicleCosimOtherNode
 Definition of an additional MPI node not directly involved in co-simulation. More...
 
class  ChVehicleCosimRigNode
 Mechanism for a single-wheel testing rig. More...
 
class  ChVehicleCosimTerrainNode
 Base class for a terrain node. More...
 
class  ChVehicleCosimTerrainNodeChrono
 Base class for terrain nodes that use one of the Chrono terrain formulations. More...
 
class  ChVehicleCosimTerrainNodeGranularGPU
 Definition of the GPU granular terrain node (using Chrono::Gpu). More...
 
class  ChVehicleCosimTerrainNodeGranularOMP
 Definition of the OpenMP granular terrain node (using Chrono::Multicore). More...
 
class  ChVehicleCosimTerrainNodeGranularSPH
 Definition of the SPH continuum representation of granular terrain node (using Chrono::FSI). More...
 
class  ChVehicleCosimTerrainNodeRigid
 Definition of the rigid terrain node (using Chrono::Multicore). More...
 
class  ChVehicleCosimTerrainNodeSCM
 Definition of the SCM deformable terrain node. More...
 
class  ChVehicleCosimTireNode
 Base class for all tire nodes. More...
 
class  ChVehicleCosimTireNodeBypass
 Definition of the bypass tire node. More...
 
class  ChVehicleCosimTireNodeFlexible
 Definition of the flexible tire node. More...
 
class  ChVehicleCosimTireNodeRigid
 Definition of the rigid tire node. More...
 
class  ChVehicleCosimTrackedMBSNode
 Base class for all MBS nodes with tracks. More...
 
class  ChVehicleCosimTrackedVehicleNode
 Tracked vehicle co-simulation node. More...
 
class  ChVehicleCosimViperNode
 Viper rover co-simulation node. More...
 
class  ChVehicleCosimWheeledMBSNode
 Base class for all MBS nodes with wheels. More...
 
class  ChVehicleCosimWheeledVehicleNode
 Wheeled vehicle co-simulation node. More...
 
class  ChVehicleGeometry
 Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle body. More...
 
class  ChVehicleJoint
 Wrapper class for a joint in a vehicle system which can be either a kinematic joint or a bushing. More...
 
class  ChVehicleOutput
 Base class for a vehicle output database. More...
 
class  ChVehicleOutputASCII
 ASCII text vehicle output database. More...
 
class  ChVehicleOutputHDF5
 HDF5 vehicle output database. More...
 
class  ChVehicleVisualSystemIrrlicht
 custom event receiver for chase-cam control More...
 
class  ChVehicleVisualSystemOpenGL
 OpenGL-based Chrono run-time visualization system. More...
 
class  ChVehicleVisualSystemVSG
 VSG-based Chrono run-time visualization system. More...
 
class  ChWheel
 Base class for a vehicle wheel subsystem. More...
 
class  ChWheeledTrailer
 Base class for chrono wheeled trailer systems. More...
 
class  ChWheeledVehicle
 Base class for chrono wheeled vehicle systems. More...
 
class  ChWheeledVehicleVisualSystemIrrlicht
 Customized Chrono Irrlicht visualization system for wheeled vehicle simulation. More...
 
class  ChWheeledVehicleVisualSystemVSG
 Customized Chrono::VSG visualization system for wheeled vehicle simulation. More...
 
class  ChWorldFrame
 Definition of the world frame for Chrono::Vehicle simulations. More...
 
class  CRGTerrain
 Concrete class for a (rigid) road loaded from an OpenCRG file. More...
 
class  CRMTerrain
 Continuum representation (CRM) deformable terrain model using SPH. More...
 
class  DeDionAxle
 Leaf-spring solid axle suspension constructed with data from file. More...
 
class  DegressiveDamperForce
 Utility class for specifying a degressive translational damper force. More...
 
class  DistanceIdler
 Distance idler model constructed with data from file (JSON format). More...
 
class  DoubleTrackWheel
 Double track-wheel model constructed with data from file (JSON format). More...
 
class  DoubleWishbone
 Double-A arm suspension constructed with data from file. More...
 
class  DoubleWishboneReduced
 Reduced double-A arm suspension constructed with data from file. More...
 
struct  DriverInputs
 Driver (vehicle control) inputs. More...
 
class  EngineShafts
 Shafts-based engine subsystem (specified through JSON file). More...
 
class  EngineSimple
 Simple engine subsystem (specified through JSON file). More...
 
class  EngineSimpleMap
 Simple speed-torque engine map subsystem (specified through JSON file). More...
 
class  FEATerrain
 FEA Deformable terrain model. More...
 
class  FEATire
 Co-rotational FEA tire constructed with data from file (JSON format). More...
 
class  FialaTire
 Fiala tire constructed with data from file (JSON format). More...
 
class  FlatTerrain
 Concrete class for a flat horizontal terrain. More...
 
class  GenericWheeledSuspension
 Generic wheeled vehicle suspension constructed with data from file. More...
 
class  GranularTerrain
 Granular terrain model. More...
 
class  HendricksonPRIMAXX
 Hendrickson PRIMAXX suspension constructed with data from file. More...
 
class  LeafspringAxle
 Leaf-spring solid axle suspension constructed with data from file. More...
 
class  LinearDamperForce
 Utility class for specifying a linear translational damper force. More...
 
class  LinearDamperTorque
 Utility class for specifying a linear rotational damper torque. More...
 
class  LinearSpringDamperForce
 Utility class for specifying a linear translational spring-damper force with pre-tension. More...
 
class  LinearSpringDamperTorque
 Utility class for specifying a linear rotational spring-damper torque. More...
 
class  LinearSpringForce
 Utility class for specifying a linear translational spring force with pre-tension. More...
 
class  LinearSpringTorque
 Utility class for specifying a linear rotational spring torque. More...
 
class  MacPhersonStrut
 MacPherson strut suspension constructed with data from file. More...
 
class  ManualTransmissionShafts
 Shafts-based automatic transmission subsystem (specified through JSON file). More...
 
class  MapSpringDamperForce
 Utility class for specifying a general nonlinear translational spring-damper force with pre-tension. More...
 
class  MultiLink
 Multi-link suspension constructed with data from file. More...
 
class  NonlinearDamperForce
 Utility class for specifying a nonlinear translational damper force. More...
 
class  NonlinearDamperTorque
 Utility class for specifying a nonlinear rotational damper torque. More...
 
class  NonlinearSpringDamperForce
 Utility class for specifying a nonlinear translational spring-damper force with pre-tension. More...
 
class  NonlinearSpringDamperTorque
 Utility class for specifying a nonlinear rotational spring-damper torque. More...
 
class  NonlinearSpringForce
 Utility class for specifying a nonlinear translational spring force with pre-tension. More...
 
class  NonlinearSpringTorque
 Utility class for specifying a nonlinear rotational spring torque. More...
 
class  ObsModTerrain
 Concrete class for a flat horizontal terrain. More...
 
class  Pac02Tire
 PAC89 tire model from JSON file. More...
 
class  Pac89Tire
 PAC89 tire model from JSON file. More...
 
class  PitmanArm
 Pitman arm steering model constructed with data from file (JSON format). More...
 
class  PushPipeAxle
 Leaf-spring solid axle suspension constructed with data from file. More...
 
class  RackPinion
 Rack-pinion steering model constructed with data from file (JSON format). More...
 
class  RandomSurfaceTerrain
 Terrain object representing an uneven area with controlled roughness. More...
 
class  ReissnerTire
 Tire with Reissner shells, constructed with data from file (JSON format). More...
 
class  RigidChassis
 Vehicle rigid chassis model constructed with data from file (JSON format). More...
 
class  RigidChassisRear
 Vehicle rigid rear chassis model constructed with data from file (JSON format). More...
 
class  RigidPanhardAxle
 Solid Panhard axle suspension constructed with data from file. More...
 
class  RigidPinnedAxle
 Rigid suspension with pinned axle constructed with data from file. More...
 
class  RigidSuspension
 Rigid suspension constructed with data from file. More...
 
class  RigidTerrain
 Rigid terrain model. More...
 
class  RigidTire
 Rigid tire constructed with data from file (JSON format). More...
 
class  RotaryArm
 RotaryArm-pinion steering model constructed with data from file (JSON format). More...
 
class  RotationalDamperSuspension
 Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...
 
class  SAELeafspringAxle
 Leaf-spring solid axle suspension constructed with data from file. More...
 
class  SAEToeBarLeafspringAxle
 Steerable leaf-spring solid axle suspension constructed with data from file. More...
 
class  SCMContactableData
 Parameters for soil-contactable interaction. More...
 
class  SCMLoader
 Underlying implementation of the Soil Contact Model. More...
 
class  SCMTerrain
 Deformable terrain model. More...
 
class  SemiTrailingArm
 Semi-trailing arm suspension constructed with data from file. More...
 
class  ShaftsDriveline2WD
 2WD driveline model template based on ChShaft objects using data from file (JSON format). More...
 
class  ShaftsDriveline4WD
 4WD driveline model template based on ChShaft objects using data from file (JSON format). More...
 
class  SimpleDriveline
 Simple driveline model template using data from file (JSON format). More...
 
class  SimpleDrivelineXWD
 Simple driveline model template using data from file (JSON format). More...
 
class  SimpleTrackDriveline
 Simple tracked vehicle driveline model template using data from file (JSON format). More...
 
class  SingleTrackWheel
 Single track-wheel model constructed with data from file (JSON format). More...
 
class  SingleWishbone
 Single A-arm suspension constructed with data from file. More...
 
class  SolidAxle
 Solid axle suspension constructed with data from file. More...
 
class  SolidBellcrankThreeLinkAxle
 solid axle suspension constructed with data from file. More...
 
class  SolidThreeLinkAxle
 Leaf-spring solid axle suspension constructed with data from file. More...
 
class  SpringForce
 Base class for linear and nonlinear translational spring forces. More...
 
class  SprocketBand
 Tracked vehicle continuous-band sprocket model constructed with data from file (JSON format). More...
 
class  SprocketDoublePin
 Tracked vehicle double-pin sprocket model constructed with data from file (JSON format). More...
 
class  SprocketSinglePin
 Tracked vehicle single-pin sprocket model constructed with data from file (JSON format). More...
 
struct  TerrainForce
 Structure to communicate a set of generalized terrain contact forces (tire or track shoe). More...
 
class  ThreeLinkIRS
 Three-link Independent Rear Suspension constructed with data from file. More...
 
class  TMeasyTire
 TMeasy tire constructed with data from file (JSON format). More...
 
class  TMsimpleTire
 TMeasy tire constructed with data from file (JSON format). More...
 
class  ToeBarDeDionAxle
 Steerable leaf-spring solid axle suspension constructed with data from file. More...
 
class  ToeBarLeafspringAxle
 Steerable leaf-spring solid axle suspension constructed with data from file. More...
 
class  ToeBarPushPipeAxle
 Steerable leaf-spring solid axle suspension constructed with data from file. More...
 
class  ToeBarRigidPanhardAxle
 Steerable leaf-spring solid axle suspension constructed with data from file. More...
 
class  TrackAssemblyBandANCF
 Band-ANCF track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblyBandBushing
 Band-bushing track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblyDoublePin
 Double-pin track assembly model constructed from a JSON specification file. More...
 
class  TrackAssemblySinglePin
 Single-pin track assembly model constructed from a JSON specification file. More...
 
class  TrackBrakeShafts
 Tracked vehicle shafts-based brake model constructed with data from file (JSON format). More...
 
class  TrackBrakeSimple
 Tracked vehicle simple brake model constructed with data from file (JSON format). More...
 
class  TrackDrivelineBDS
 BDS tracked vehicle driveline model template using data from file (JSON format). More...
 
class  TrackedVehicle
 Tracked vehicle model constructed from a JSON specification file. More...
 
class  TrackShoeBandANCF
 Band-ANCF track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeBandBushing
 Band-bushing track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeDoublePin
 Double-pin track shoe with central guide constructed with data from file (JSON format). More...
 
class  TrackShoeSinglePin
 Single-pin track shoe with central guide constructed with data from file (JSON format). More...
 
class  TranslationalDamperSuspension
 Torsion-bar suspension system using linear dampers constructed with data from file (JSON format) More...
 
class  TranslationalIdler
 Translational idler model constructed with data from file (JSON format). More...
 
class  Wheel
 Vehicle wheel constructed with data from file (JSON format). More...
 
class  WheeledTrailer
 Wheeled trailer model constructed from a JSON specification file. More...
 
class  WheeledVehicle
 Wheeled vehicle model constructed from a JSON specification file. More...
 
struct  WheelState
 Structure to communicate a full wheel body state. More...
 

Typedefs

typedef std::vector< std::shared_ptr< ChChassisRear > > ChChassisRearList
 Vector of handles to rear chassis subsystems.
 
typedef std::vector< std::shared_ptr< ChChassisConnector > > ChChassisConnectorList
 Vector of handles to rear chassis subsystems.
 
typedef std::vector< BodyStateBodyStates
 Vector of body state structures.
 
typedef std::vector< WheelStateWheelStates
 Vector of wheel state structures.
 
typedef std::vector< TerrainForceTerrainForces
 Vector of terrain conatct force structures.
 
typedef std::vector< std::shared_ptr< ChSprocket > > ChSprocketList
 Vector of handles to sprocket subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackBrake > > ChTrackBrakeList
 Vector of handles to brake subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoe > > ChTrackShoeList
 Vector of handles to track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackSuspension > > ChTrackSuspensionList
 Vector of handles to track suspension subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackWheel > > ChTrackWheelList
 Vector of track wheel subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeBand > > ChTrackShoeBandList
 Vector of handles to continuous band track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeBandANCF > > ChTrackShoeBandANCFList
 Vector of continuous band ANCFshell-based track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeBandBushing > > ChTrackShoeBandBushingList
 Vector of continuous band bushing-based track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeDoublePin > > ChTrackShoeDoublePinList
 Vector of double-pin track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChTrackShoeSinglePin > > ChTrackShoeSinglePinList
 Vector of single-pin track shoe subsystems.
 
typedef std::vector< std::shared_ptr< ChAntirollBar > > ChAntirollbarList
 Vector of handles to antirollbar subsystems.
 
typedef std::vector< std::shared_ptr< ChAxle > > ChAxleList
 Vector of handles to axle subsystems.
 
typedef std::vector< std::shared_ptr< ChBrake > > ChBrakeList
 Vector of handles to brake subsystems.
 
typedef std::vector< std::shared_ptr< ChSteering > > ChSteeringList
 Vector of handles to steering subsystems.
 
typedef std::vector< std::shared_ptr< ChSubchassis > > ChSubchassisList
 Vector of handles to subchassis subsystems.
 
typedef std::vector< std::shared_ptr< ChSuspension > > ChSuspensionList
 Vector of handles to suspension subsystems.
 
typedef std::vector< std::shared_ptr< ChTire > > ChTireList
 Vector of handles to tire subsystems.
 
typedef std::vector< std::shared_ptr< ChWheel > > ChWheelList
 Vector of handles to wheel subsystems.
 

Enumerations

enum  CollisionType { CollisionType::NONE, CollisionType::PRIMITIVES, CollisionType::HULLS, CollisionType::MESH }
 Enumeration of collision model types. More...
 
enum  VehicleSide { LEFT = 0, RIGHT = 1 }
 Enum for the side (left/right) of a vehicle. More...
 
enum  WheelLocation { SINGLE = 0, INNER = 1, OUTER = 2 }
 Enum for wheel location on spindle. More...
 
enum  VisualizationType { VisualizationType::NONE, VisualizationType::PRIMITIVES, VisualizationType::MESH }
 Enum for visualization types. More...
 
enum  TireModelType {
  TireModelType::RIGID, TireModelType::RIGID_MESH, TireModelType::FIALA, TireModelType::ANCF,
  TireModelType::REISSNER, TireModelType::FEA, TireModelType::PAC89, TireModelType::TMEASY,
  TireModelType::PAC02, TireModelType::TMSIMPLE
}
 Enum for available tire models. More...
 
enum  EngineModelType { EngineModelType::SHAFTS, EngineModelType::SIMPLE_MAP, EngineModelType::SIMPLE }
 Enum for available engine model templates. More...
 
enum  TransmissionModelType { TransmissionModelType::AUTOMATIC_SHAFTS, TransmissionModelType::AUTOMATIC_SIMPLE_MAP, TransmissionModelType::MANUAL_SHAFTS }
 Enum for available transmission model templates. More...
 
enum  SuspensionTypeWV {
  SuspensionTypeWV::DOUBLE_WISHBONE, SuspensionTypeWV::DOUBLE_WISHBONE_REDUCED, SuspensionTypeWV::HENDRICKSON_PRIMAXX, SuspensionTypeWV::LEAF_SPRING_AXLE,
  SuspensionTypeWV::SAE_LEAF_SPRING_AXLE, SuspensionTypeWV::MACPHERSON_STRUT, SuspensionTypeWV::MULTI_LINK, SuspensionTypeWV::RIGID_PINNED,
  SuspensionTypeWV::RIGID_SUSPENSION, SuspensionTypeWV::SEMI_TRAILING_ARM, SuspensionTypeWV::SOLID_AXLE, SuspensionTypeWV::SOLID_THREE_LINK_AXLE,
  SuspensionTypeWV::SOLID_BELLCRANK_THREE_LINK_AXLE, SuspensionTypeWV::THREE_LINK_IRS, SuspensionTypeWV::TOE_BAR_LEAF_SPRING_AXLE, SuspensionTypeWV::SAE_TOE_BAR_LEAF_SPRING_AXLE,
  SuspensionTypeWV::PUSHPIPE_AXLE, SuspensionTypeWV::TOEBAR_PUSHPIPE_AXLE
}
 Enum for available wheeled-vehicle suspension model templates. More...
 
enum  BrakeType { BrakeType::SHAFTS, BrakeType::SIMPLE }
 Enum for available brake model templates. More...
 
enum  SteeringTypeWV { SteeringTypeWV::PITMAN_ARM, SteeringTypeWV::PITMAN_ARM_SHAFTS, SteeringTypeWV::RACK_PINION }
 Enum for available wheeled-vehicle steering model templates. More...
 
enum  DrivelineTypeWV {
  DrivelineTypeWV::FWD, DrivelineTypeWV::RWD, DrivelineTypeWV::AWD, DrivelineTypeWV::AWD6,
  DrivelineTypeWV::AWD8, DrivelineTypeWV::SIMPLE, DrivelineTypeWV::SIMPLE_XWD
}
 Enum for wheeled-vehicle driveline types. More...
 
enum  DrivelineTypeTV { DrivelineTypeTV::BDS, DrivelineTypeTV::SIMPLE }
 Enum for tracked-vehicle driveline types. More...
 
enum  TrackShoeType { TrackShoeType::SINGLE_PIN, TrackShoeType::DOUBLE_PIN, TrackShoeType::BAND_BUSHING, TrackShoeType::BAND_ANCF }
 Enum for track shoe types. More...
 
enum  DoublePinTrackShoeType { DoublePinTrackShoeType::TWO_CONNECTORS, DoublePinTrackShoeType::ONE_CONNECTOR }
 Topology of the double-pin track shoe. More...
 
enum  GuidePinType { GuidePinType::CENTRAL_PIN, GuidePinType::LATERAL_PIN }
 Enum for guide pin (track shoe/roadwheel/idler). More...
 
enum  OutputInformation { OUT_SPRINGS = 1 << 0, OUT_SHOCKS = 1 << 1, OUT_CONSTRAINTS = 1 << 2, OUT_TESTRIG = 1 << 3 }
 Flags for output (log/debug). More...
 
enum  BodyID {
  CHASSIS_BODY = -99990, SPROCKET_BODY = -99991, IDLER_BODY = -99992, WHEEL_BODY = -99993,
  ROLER_BODY = -99994, SHOE_BODY = -99995
}
 Identifiers for specific component bodies.
 

Functions

rapidjson::Value Vec2Val (const ChVector<> &vec, rapidjson::Document::AllocatorType &allocator)
 
rapidjson::Value Quat2Val (const ChQuaternion<> &q, rapidjson::Document::AllocatorType &allocator)
 
rapidjson::Value Frame2Val (const ChFrame<> &frame, rapidjson::Document::AllocatorType &allocator)
 
rapidjson::Value Csys2Val (const ChCoordsys<> &csys, rapidjson::Document::AllocatorType &allocator)
 
rapidjson::Value Mat2Val (const ChMatrixNM< double, 6, 6 > &mat, rapidjson::Document::AllocatorType &allocator)
 
rapidjson::Value VisualModel2Val (std::shared_ptr< ChVisualModel > model, rapidjson::Document::AllocatorType &allocator)
 
void SetDataPath (const std::string &path)
 Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).
 
const std::string & GetDataPath ()
 Get the current path to the Chrono::Vehicle data directory (thread safe).
 
std::string GetDataFile (const std::string &filename)
 Get the complete path to the specified filename (thread safe). More...
 
void DrawGauge (float val, float v_min, float v_max)
 
void ShowHelp ()
 
std::string format_number (int num, int precision)
 
ChVector< int > Snap2Grid (const ChVector<> point, double spacing)
 
bool calcBarycentricCoordinates (const ChVector<> &v1, const ChVector<> &v2, const ChVector<> &v3, const ChVector<> &v, double &a1, double &a2, double &a3)
 
void ReadFileJSON (const std::string &filename, Document &d)
 
ChVector ReadVectorJSON (const Value &a)
 
ChQuaternion ReadQuaternionJSON (const Value &a)
 
ChCoordsys ReadCoordinateSystemJSON (const Value &a)
 
ChColor ReadColorJSON (const Value &a)
 
ChContactMaterialData ReadMaterialInfoJSON (const rapidjson::Value &mat)
 
std::shared_ptr< ChVehicleBushingDataReadBushingDataJSON (const rapidjson::Value &bd)
 
ChVehicleJoint::Type ReadVehicleJointTypeJSON (const Value &a)
 
ChVehicleGeometry ReadVehicleGeometryJSON (const rapidjson::Value &d)
 Load and return a vehicle geometry structure from the specified JSON value. More...
 
CH_VEHICLE_API ChTSDAGeometry ReadTSDAGeometryJSON (const rapidjson::Value &d)
 Load and return a TSDA geometry structure from the specified JSON value.
 
std::shared_ptr< ChLinkTSDA::ForceFunctorReadTSDAFunctorJSON (const rapidjson::Value &tsda, double &free_length)
 
std::shared_ptr< ChLinkRSDA::TorqueFunctorReadRSDAFunctorJSON (const rapidjson::Value &rsda, double &free_angle)
 
std::shared_ptr< ChChassisReadChassisJSON (const std::string &filename)
 Load and return a chassis subsystem from the specified JSON file.
 
std::shared_ptr< ChChassisRearReadChassisRearJSON (const std::string &filename)
 Load and return a rear chassis subsystem from the specified JSON file.
 
std::shared_ptr< ChChassisConnectorReadChassisConnectorJSON (const std::string &filename)
 Load and return a chassis connector subsystem from the specified JSON file.
 
std::shared_ptr< ChEngineReadEngineJSON (const std::string &filename)
 Load and return an engine subsystem from the specified JSON file.
 
std::shared_ptr< ChTransmissionReadTransmissionJSON (const std::string &filename)
 Load and return a transmission subsystem from the specified JSON file.
 
std::shared_ptr< ChSuspensionReadSuspensionJSON (const std::string &filename)
 Load and return a suspension subsystem from the specified JSON file.
 
std::shared_ptr< ChSteeringReadSteeringJSON (const std::string &filename)
 Load and return a steering subsystem from the specified JSON file.
 
std::shared_ptr< ChDrivelineWVReadDrivelineWVJSON (const std::string &filename)
 Load and return a driveline subsystem from the specified JSON file.
 
std::shared_ptr< ChAntirollBarReadAntirollbarJSON (const std::string &filename)
 Load and return a steering subsystem from the specified JSON file.
 
std::shared_ptr< ChWheelReadWheelJSON (const std::string &filename)
 Load and return a steering subsystem from the specified JSON file.
 
std::shared_ptr< ChSubchassisReadSubchassisJSON (const std::string &filename)
 Load and return a subchassis subsystem from the specified JSON file.
 
std::shared_ptr< ChBrakeReadBrakeJSON (const std::string &filename)
 Load and return a steering subsystem from the specified JSON file.
 
std::shared_ptr< ChTireReadTireJSON (const std::string &filename)
 Load and return a tire from the specified JSON file.
 
std::shared_ptr< ChTrackAssemblyReadTrackAssemblyJSON (const std::string &filename)
 Load and return a track assembly from the specified JSON file.
 
std::shared_ptr< ChDrivelineTVReadDrivelineTVJSON (const std::string &filename)
 Load and return a track driveline from the specified JSON file.
 
std::shared_ptr< ChTrackBrakeReadTrackBrakeJSON (const std::string &filename)
 Load and return a track brake from the specified JSON file.
 
std::shared_ptr< ChIdlerReadIdlerJSON (const std::string &filename)
 Load and return an idler from the specified JSON file.
 
std::shared_ptr< ChTrackSuspensionReadTrackSuspensionJSON (const std::string &filename, bool has_shock, bool lock_arm)
 Load and return a track suspension from the specified JSON file.
 
std::shared_ptr< ChTrackWheelReadTrackWheelJSON (const std::string &filename)
 Load and return a road-wheel from the specified JSON file.
 
CH_VEHICLE_API void ReadFileJSON (const std::string &filename, rapidjson::Document &d)
 Load and return a RapidJSON document from the specified file. More...
 
CH_VEHICLE_API ChVector ReadVectorJSON (const rapidjson::Value &a)
 Load and return a ChVector from the specified JSON array.
 
CH_VEHICLE_API ChQuaternion ReadQuaternionJSON (const rapidjson::Value &a)
 Load and return a ChQuaternion from the specified JSON array.
 
CH_VEHICLE_API ChCoordsys ReadCoordinateSystemJSON (const rapidjson::Value &a)
 Load and return a coordinate system from the specific JSON value.
 
CH_VEHICLE_API ChColor ReadColorJSON (const rapidjson::Value &a)
 Load and return a ChColor from the specified JSON array.
 
CH_VEHICLE_API ChVehicleJoint::Type ReadVehicleJointTypeJSON (const rapidjson::Value &a)
 Load and return a vehicle joint type from the specific JSON value.
 
std::shared_ptr< ChBezierCurveStraightLinePath (const ChVector<> &start, const ChVector<> end, unsigned int num_intermediate=0)
 Straight line path between the two specified end points. More...
 
std::shared_ptr< ChBezierCurveCirclePath (const ChVector<> &start, double radius, double run, bool left_turn=true, int num_turns=1)
 Circular path with an initial straight-line run in the X direction. More...
 
std::shared_ptr< ChBezierCurveDoubleLaneChangePath (const ChVector<> &start, double ramp, double width, double length, double run, bool left_turn=true)
 Double lane change path with initial and final runs in the X direction. More...
 
double VolumeCyl (double r_outer, double r_inner, double cyl_height)
 
double InertiaRotCyl (double mass, double r_outer, double r_inner)
 
double InertiaTipCyl (double mass, double r_outer, double r_inner, double cyl_height)
 
void differentialSplitXWD (double torque, double max_bias, double speed_left, double speed_right, double &torque_left, double &torque_right)
 
ChVehicleGeometry TransformVehicleGeometry (const ChVehicleGeometry &geom, int side)
 
ChTSDAGeometry TransformTSDAGeometry (const ChTSDAGeometry &geom, int side)
 
ChGenericWheeledSuspension::BodyIdentifier ReadBodyIdentifierJSON (const Value &a)
 
void AttachNodeToShell (std::shared_ptr< ChMesh > m_mesh, std::shared_ptr< ChNodeFEAxyz > m_node)
 

Variables

const double EXTRA_HEIGHT = 1.0
 
const int JoystickProcessFrequency = 16
 
const int JoystickOutputFrequency = 32
 
const double safety_factor = 1.001
 
const double offset_factor = 3
 

Enumeration Type Documentation

◆ CollisionType

Enumeration of collision model types.

Enumerator
NONE 

no contact shapes

PRIMITIVES 

contact model composed of primitives

HULLS 

contact model composed of convex hulls

MESH 

contact model composed of trimeshes

Function Documentation

◆ CirclePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::CirclePath ( const ChVector<> &  start,
double  radius,
double  run,
bool  left_turn = true,
int  num_turns = 1 
)

Circular path with an initial straight-line run in the X direction.

The generated curve loops around the circle for a specified number of times.

Example: left circle path
                    __<__         Y
                  /       \       ^
                 /         \      |
                |     o     |     +---> X
                 \         /
 ________>________\ __>__ /
        run
Parameters
startstart point
radiuscircle radius
runlength of initial straight line
left_turnleft turn (true), right turn (false)
num_turnsnumber of turns around circle

◆ DoubleLaneChangePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::DoubleLaneChangePath ( const ChVector<> &  start,
double  ramp,
double  width,
double  length,
double  run,
bool  left_turn = true 
)

Double lane change path with initial and final runs in the X direction.

Example: left double lane change path
                                         Y
                                         ^
                  ______>______          |
                 /             \         +---> X
               /                 \       | 
_____>______ /                     \ ______>_______
    run       ramp   length    ramp      run
Parameters
startstart point
ramplength of ramp sections
widthlane separation
lengthdistance in lane
runlength of initial and final straight lines
left_turnleft turn (true), right turn (false)

◆ ReadFileJSON()

CH_VEHICLE_API void chrono::vehicle::ReadFileJSON ( const std::string &  filename,
rapidjson::Document &  d 
)

Load and return a RapidJSON document from the specified file.

A Null document is returned if the file cannot be opened.

◆ ReadVehicleGeometryJSON()

CH_VEHICLE_API ChVehicleGeometry chrono::vehicle::ReadVehicleGeometryJSON ( const rapidjson::Value &  d)

Load and return a vehicle geometry structure from the specified JSON value.

Collision geometry and contact material information is set in the return ChVehicleGeometry object if the given JSON object has a member "Contact". Visualization geometry is loaded if the JSON object has a member "Visualization".

◆ StraightLinePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::StraightLinePath ( const ChVector<> &  start,
const ChVector<>  end,
unsigned int  num_intermediate = 0 
)

Straight line path between the two specified end points.

Intermediate points can be optionally included.

Parameters
startstart point
endend point
num_intermediatenumber of intermediate points