Description
Base class for a drawbar-pull rig mechanism.
Derived classes implement different ways for measuring DBP.
#include <ChVehicleCosimDBPRig.h>

Public Types | |
enum class | Type { IMPOSED_SLIP , IMPOSED_ANG_VEL } |
Type of DBP rig. More... | |
Public Member Functions | |
void | SetDBPFilterWindow (double window) |
Set window (in seconds) for the running average filter for drawbar pull reporting (default: 0.1 s). | |
void | SetSlipFilterWindow (double window) |
Set window (in seconds) for the running average filter for slip reporting (default: 0.1 s). | |
virtual Type | GetType () const =0 |
Get rig type. | |
virtual double | GetSlip () const =0 |
Return current value of longitudinal slip. | |
virtual double | GetLinVel () const =0 |
Return current rig linear speed. | |
virtual double | GetAngVel () const =0 |
Return current wheel angular speed. | |
virtual double | GetDBP () const =0 |
Return current raw drawbar-pull value. | |
double | GetFilteredDBP () const |
Return current filtered drawbar-pull value. | |
double | GetFilteredSlip () const |
Return current filtered slip value. | |
Protected Member Functions | |
virtual void | InitializeRig (std::shared_ptr< ChBody > chassis, double wheel_radius)=0 |
Initialize the rig mechanism, by attaching it to the specified chassis body. | |
virtual std::shared_ptr< ChFunction > | GetMotorFunction () const =0 |
Return a function to specify spindle angular speed. | |
Protected Attributes | |
bool | m_verbose |
verbose messages during simulation? | |
double | m_delay_time |
initialization (ramping up) time | |
Friends | |
class | ChVehicleCosimWheeledMBSNode |
class | ChVehicleCosimTrackedMBSNode |
Member Enumeration Documentation
◆ Type
|
strong |
Type of DBP rig.
Enumerator | |
---|---|
IMPOSED_SLIP | rig of type ChVehicleCosimDBPRigImposedSlip |
IMPOSED_ANG_VEL | rig of type ChVehicleCosimDBPRigImposedAngVel |
Member Function Documentation
◆ GetAngVel()
|
pure virtual |
Return current wheel angular speed.
Implemented in chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel, and chrono::vehicle::ChVehicleCosimDBPRigImposedSlip.
◆ GetDBP()
|
pure virtual |
Return current raw drawbar-pull value.
Implemented in chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel, and chrono::vehicle::ChVehicleCosimDBPRigImposedSlip.
◆ GetLinVel()
|
pure virtual |
Return current rig linear speed.
Implemented in chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel, and chrono::vehicle::ChVehicleCosimDBPRigImposedSlip.
◆ GetSlip()
|
pure virtual |
Return current value of longitudinal slip.
Implemented in chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel, and chrono::vehicle::ChVehicleCosimDBPRigImposedSlip.
◆ GetType()
|
pure virtual |
Get rig type.
Implemented in chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel, and chrono::vehicle::ChVehicleCosimDBPRigImposedSlip.
◆ InitializeRig()
|
protectedpure virtual |
Initialize the rig mechanism, by attaching it to the specified chassis body.
- Parameters
-
chassis associated chassis body wheel_radius radius (tire or sprocket)
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.h
- C:/M/B/src/chrono-9.0.1/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp