MTV cargo truck (5 tons) rear chassis subsystems.
|
|
| MTV_ChassisRear (const std::string &name, CollisionType chassis_collision_type=CollisionType::NONE) |
| |
| virtual const ChVector3d & | GetLocalPosFrontConnector () const override |
| | Get the location (in the local frame of this chassis) of the connection to the front chassis.
|
| |
|
| ChRigidChassisRear (const std::string &name) |
| | Construct a vehicle subsystem with the specified name.
|
| |
| virtual std::string | GetTemplateName () const override |
| | Get the name of the vehicle subsystem template.
|
| |
|
bool | HasCollision () const |
| | Specifies whether or not collision shapes were defined.
|
| |
|
bool | HasPrimitives () const |
| | Specifies whether or not visualization primitives were defined.
|
| |
|
bool | HasMesh () const |
| | Specifies whether or not a visualization mesh was defined.
|
| |
| const std::string & | GetMeshFilename () const |
| | Get the name of the Wavefront file with chassis visualization mesh.
|
| |
| virtual void | EnableCollision (bool state) override |
| | Enable/disable contact for the chassis.
|
| |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, int collision_family=0) override |
| | Initialize the rear chassis relative to the specified front chassis.
|
| |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| | Add visualization assets to this subsystem, for the specified visualization mode.
|
| |
| virtual void | RemoveVisualizationAssets () override final |
| | Remove all visualization assets from this subsystem.
|
| |
|
| ChChassisRear (const std::string &name) |
| | Construct a rear chassis subsystem with the specified name.
|
| |
| | ChChassis (const std::string &name, bool fixed=false) |
| | Construct a chassis subsystem with the specified name.
|
| |
| virtual const ChVector3d | GetLocalPosRearConnector () const |
| | Get the location (in the local frame of this chassis) of the connection to a rear chassis.
|
| |
|
std::shared_ptr< ChBodyAuxRef > | GetBody () const |
| | Get a handle to the vehicle's chassis body.
|
| |
|
ChSystem * | GetSystem () const |
| | Get a pointer to the containing system.
|
| |
|
const ChVector3d & | GetPos () const |
| | Get the global location of the chassis reference frame origin.
|
| |
| ChQuaternion | GetRot () const |
| | Get the orientation of the chassis reference frame.
|
| |
|
ChVector3d | GetDriverPos () const |
| | Get the global location of the driver.
|
| |
| double | GetSpeed () const |
| | Get the vehicle speed.
|
| |
| double | GetCOMSpeed () const |
| | Get the speed of the chassis COM.
|
| |
| double | GetRollRate () const |
| | Get the roll rate of the chassis.
|
| |
| double | GetPitchRate () const |
| | Get the pitch rate of the chassis.
|
| |
| double | GetYawRate () const |
| | Get the yaw rate of the chassis.
|
| |
| double | GetTurnRate () const |
| | Get the turn rate of the chassis.
|
| |
| ChVector3d | GetPointLocation (const ChVector3d &locpos) const |
| | Get the global position of the specified point.
|
| |
| ChVector3d | GetPointVelocity (const ChVector3d &locpos) const |
| | Get the global velocity of the specified point.
|
| |
| ChVector3d | GetPointAcceleration (const ChVector3d &locpos) const |
| | Get the acceleration at the specified point.
|
| |
|
void | SetFixed (bool val) |
| | Set the "fixed to ground" status of the chassis body.
|
| |
|
bool | IsFixed () const |
| | Return true if the chassis body is fixed to ground.
|
| |
|
bool | HasBushings () const |
| | Return true if the vehicle model contains bushings.
|
| |
| void | AddMarker (const std::string &name, const ChFrame<> &frame) |
| | Add a marker on the chassis body at the specified position (relative to the chassis reference frame).
|
| |
|
const std::vector< std::shared_ptr< ChMarker > > & | GetMarkers () const |
| |
| void | SetAerodynamicDrag (double Cd, double area, double air_density) |
| | Set parameters and enable aerodynamic drag force calculation.
|
| |
| virtual void | Synchronize (double time) |
| | Update the state of the chassis subsystem.
|
| |
|
void | AddJoint (std::shared_ptr< ChVehicleJoint > joint) |
| | Utility function to add a joint (kinematic or bushing) to the vehicle system.
|
| |
|
void | AddExternalForceTorque (std::shared_ptr< ExternalForceTorque > load) |
| | Utility force to add an external load to the chassis body.
|
| |
| void | AddTerrainLoad (std::shared_ptr< ChLoadBase > terrain_load) |
| | Add a terrain load to the vehicle system.
|
| |
| virtual void | InitializeInertiaProperties () override |
| | Initialize subsystem inertia properties.
|
| |
| virtual void | UpdateInertiaProperties () override |
| | Update subsystem inertia properties.
|
| |
|
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.
|
| |
| double | GetMass () const |
| | Get the subsystem mass.
|
| |
| const ChFrame & | GetCOMFrame () const |
| | Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame).
|
| |
| const ChMatrix33 & | GetInertia () const |
| | Get the current subsystem inertia (relative to the subsystem COM frame).
|
| |
| const ChFrame & | GetTransform () const |
| | Get the current subsystem position relative to the global frame.
|
| |
|
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 double | GetBodyMass () const override |
| |
| virtual ChMatrix33 | GetBodyInertia () const override |
| |
| virtual ChFrame | GetBodyCOMFrame () const override |
| |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
| | Export this subsystem's component list to the specified JSON object.
|
| |
| virtual void | Output (ChVehicleOutput &database) const override |
| | Output data for this subsystem's component list to the specified database.
|
| |
|
| ChPart (const std::string &name) |
| | Construct a vehicle subsystem with the specified name.
|
| |
| void | AddMass (double &mass) |
| | Add this subsystem's mass.
|
| |
| void | AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia) |
| | Add this subsystem's inertia properties.
|
| |
| virtual void | Create (const rapidjson::Document &d) |
| | Create a vehicle subsystem from JSON data.
|
| |
|
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.
|
| |
|
|
ChMatrix33 | m_body_inertia |
| |
|
ChVehicleGeometry | m_geometry |
| | collection of visualization and collision shapes
|
| |
|
std::shared_ptr< ChBodyAuxRef > | m_body |
| | handle to the chassis body
|
| |
|
std::shared_ptr< ChLoadContainer > | m_container_bushings |
| | load container for vehicle bushings
|
| |
|
std::shared_ptr< ChLoadContainer > | m_container_external |
| | load container for external forces
|
| |
|
std::shared_ptr< ChLoadContainer > | m_container_terrain |
| | load container for terrain forces
|
| |
|
std::vector< std::shared_ptr< ExternalForceTorque > > | m_external_loads |
| | external loads
|
| |
|
std::vector< std::shared_ptr< ChMarker > > | m_markers |
| | list of user-defined markers
|
| |
|
bool | m_fixed |
| | is the chassis body fixed to ground?
|
| |
|
std::string | m_name |
| | subsystem name
|
| |
|
bool | m_initialized |
| | specifies whether ot 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
|
| |