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