ANCF tire template.
This tire is modeled as a mesh composed of ANCF shell elements.
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| ChANCFTire (const std::string &name) |
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virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template.
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| ChDeformableTire (const std::string &name) |
| Construct a deformable tire with the specified name.
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virtual double | GetTireMass () const override final |
| Return the tire mass.
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virtual ChVector3d | GetTireInertia () const override final |
| Return the tire moments of inertia (in the tire centroidal frame).
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void | SetContactSurfaceType (ContactSurfaceType type) |
| Set the type of contact surface.
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ContactSurfaceType | GetContactSurfaceType () const |
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void | SetContactNodeRadius (double radius) |
| Set radius of contact nodes.
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double | GetContactNodeRadius () const |
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void | SetContactFaceThickness (double thickness) |
| Set thickness of contact faces (radius of swept sphere).
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double | GetContactFaceThickness () const |
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std::shared_ptr< ChContactMaterialSMC > | GetContactMaterial () const |
| Get the tire contact material.
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void | EnablePressure (bool val) |
| Enable/disable tire pressure (default: true).
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bool | IsPressureEnabled () const |
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void | EnableContact (bool val) |
| Enable/disable tire contact (default: true).
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bool | IsContactEnabled () const |
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void | EnableRimConnection (bool val) |
| Enable/disable tire-rim connection (default: true).
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bool | IsRimConnectionEnabled () const |
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ChVisualShapeFEA * | GetMeshVisualization () const |
| Get a handle to the mesh visualization.
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std::shared_ptr< fea::ChMesh > | GetMesh () const |
| Get the underlying FEA mesh.
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std::shared_ptr< fea::ChContactSurface > | GetContactSurface () const |
| Get the mesh contact surface.
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std::shared_ptr< ChLoadContainer > | GetLoadContainer () const |
| Get the load container associated with this tire.
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virtual double | GetRimRadius () const =0 |
| Get the rim radius (inner tire radius).
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virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override |
| Report the tire force and moment.
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virtual TerrainForce | ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override |
| Get the tire force and moment expressed in the tire frame.
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virtual void | AddVisualizationAssets (VisualizationType vis) override final |
| Add visualization assets for the rigid tire subsystem.
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virtual void | RemoveVisualizationAssets () override final |
| Remove visualization assets for the rigid tire subsystem.
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void | SetStepsize (double val) |
| Set the value of the integration step size for the underlying dynamics (if applicable).
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double | GetStepsize () const |
| Get the current value of the integration step size.
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void | SetCollisionType (CollisionType collision_type) |
| Set the collision type for tire-terrain interaction.
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void | SetPressure (double pressure) |
| Set the internal tire pressure [Pa].
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double | GetPressure () const |
| Get the internal tire pressure [Pa].
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virtual double | GetRadius () const =0 |
| Get the tire radius.
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virtual double | GetWidth () const =0 |
| Get the tire width.
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double | GetSlipAngle () const |
| Return the tire slip angle calculated based on the current state of the associated wheel body.
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double | GetLongitudinalSlip () const |
| Return the tire longitudinal slip calculated based on the current state of the associated wheel body.
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double | GetCamberAngle () const |
| Return the tire camber angle calculated based on the current state of the associated wheel body.
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virtual double | GetDeflection () const |
| Report the tire deflection.
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const std::string & | GetMeshFilename () const |
| Get the name of the Wavefront file with tire visualization mesh.
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virtual void | Synchronize (double time, const ChTerrain &terrain) |
| Update the state of this tire system at the current time.
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virtual void | Advance (double step) |
| Advance the state of this tire by the specified time step.
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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 void | ExportComponentList (rapidjson::Document &jsonDocument) const |
| Export this subsystem's component list to the specified JSON object.
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virtual void | Output (ChVehicleOutput &database) const |
| Output data for this subsystem's component list to the specified database.
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virtual void | CreatePressureLoad () override final |
| Create the ChLoad for applying pressure to the tire.
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virtual void | CreateContactSurface () override final |
| Create the contact surface for the tire mesh.
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virtual void | CreateRimConnections (std::shared_ptr< ChBody > wheel) override final |
| Create the tire-rim connections.
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virtual double | GetDefaultPressure () const =0 |
| Return the default tire pressure.
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virtual std::vector< std::shared_ptr< fea::ChNodeFEAbase > > | GetConnectedNodes () const =0 |
| Return list of nodes connected to the rim.
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virtual void | CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side)=0 |
| Create the FEA nodes and elements.
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virtual void | CreateContactMaterial ()=0 |
| Create the SMC contact material.
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virtual double | GetAddedMass () const override final |
| Get the mass added to the associated spindle body.
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virtual ChVector3d | GetAddedInertia () const override final |
| Get the inertia added to the associated spindle body.
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virtual void | InitializeInertiaProperties () override final |
| Return the tire mass.
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virtual void | UpdateInertiaProperties () override final |
| Return the tire moments of inertia (in the tire centroidal frame).
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virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override |
| Initialize this tire by associating it to the specified wheel.
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virtual TerrainForce | GetTireForce () const override final |
| Get the tire force and moment.
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| ChTire (const std::string &name) |
| Construct a tire subsystem with given name.
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void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame) |
| Calculate kinematics quantities based on the given state of the associated wheel body.
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double | GetOffset () const |
| Get offset from spindle center.
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std::shared_ptr< ChVisualShapeTriangleMesh > | AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right) |
| Add mesh visualization to the body associated with this tire (a wheel spindle body).
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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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static std::vector< std::shared_ptr< fea::ChNodeFEAbase > > | CreateMeshANCF4 (const Profile &profile, const Section &bead, const Section &sidewall, const Section &tread, int div_circumference, double rim_radius, double damping, std::shared_ptr< fea::ChMesh > mesh, const ChFrameMoving<> &wheel_frame) |
| Utility class to generate a tire mesh using 4-node ANCF shell elements (ChElementShellANCF_3423).
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static std::vector< std::shared_ptr< fea::ChNodeFEAbase > > | CreateMeshANCF8 (const Profile &profile, const Section &bead, const Section &sidewall, const Section &tread, int div_circumference, double rim_radius, double damping, std::shared_ptr< fea::ChMesh > mesh, const ChFrameMoving<> &wheel_frame) |
| Utility class to generate a tire mesh using 8-node ANCF shell elements (ChElementShellANCF_3833).
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static bool | DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection, using the specified method.
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static void | ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep) |
| Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius.
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static bool | DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection.
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static bool | DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu) |
| Perform disc-terrain collision detection considering the curvature of the road surface.
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static bool | DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu) |
| Collsion algorithm based on a paper of J.
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static void | RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item) |
| Erase all visual shapes from the visual model associated with the specified physics item (if any).
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static void | RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape) |
| Erase the given shape from the visual model associated with the specified physics item (if any).
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enum class | ContactSurfaceType { NODE_CLOUD
, TRIANGLE_MESH
} |
| Type of the mesh contact surface.
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enum class | CollisionType { SINGLE_POINT
, FOUR_POINTS
, ENVELOPE
} |
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static ChVector3d | EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2) |
| Utility function for estimating the tire moments of inertia.
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static ChMatrix33 | TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot) |
| Utility function for transforming inertia tensors between centroidal frames.
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std::shared_ptr< fea::ChMesh > | m_mesh |
| tire mesh
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std::shared_ptr< ChLoadContainer > | m_load_container |
| load container (for pressure load)
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std::vector< std::shared_ptr< fea::ChLinkNodeFrame > > | m_connections |
| tire-wheel point connections
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std::vector< std::shared_ptr< fea::ChLinkNodeSlopeFrame > > | m_connectionsD |
| tire-wheel direction connections
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std::vector< std::shared_ptr< ChLinkMateFix > > | m_connectionsF |
| tire-wheel fix connection (point+rotation)
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bool | m_connection_enabled |
| enable tire connections to rim
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bool | m_pressure_enabled |
| enable internal tire pressure
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bool | m_contact_enabled |
| enable tire-terrain contact
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ContactSurfaceType | m_contact_type |
| type of contact surface model (node cloud or mesh)
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double | m_contact_node_radius |
| node radius (for node cloud contact surface)
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double | m_contact_face_thickness |
| face thickness (for mesh contact surface)
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std::shared_ptr< ChContactMaterialSMC > | m_contact_mat |
| tire contact material
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std::shared_ptr< ChVisualShapeFEA > | m_visualization |
| tire mesh visualization
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std::shared_ptr< ChWheel > | m_wheel |
| associated wheel subsystem
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double | m_stepsize |
| tire integration step size (if applicable)
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double | m_pressure |
| internal tire pressure
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CollisionType | m_collision_type |
| method used for tire-terrain collision
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std::string | m_vis_mesh_file |
| name of OBJ file for visualization of this tire (may be empty)
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double | m_slip_angle |
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double | m_longitudinal_slip |
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double | m_camber_angle |
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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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