Description
Hendrickson PRIMAXX suspension constructed with data from file.
#include <HendricksonPRIMAXX.h>


Public Member Functions | |
HendricksonPRIMAXX (const std::string &filename) | |
HendricksonPRIMAXX (const rapidjson::Document &d) | |
virtual bool | UseTierodBodies () const override |
Indicate whether or not tirod bodies are modelled (default: false). | |
virtual const ChVector3d | getAxlehousingCOM () const override |
Return the center of mass of the axle tube. | |
virtual const ChVector3d | getTransversebeamCOM () const override |
Return the center of mass of the transverse beam. | |
virtual double | getAxlehousingMass () const override |
Return the mass of the axle housing body. | |
virtual double | getKnuckleMass () const override |
Return the mass of the knuckle body. | |
virtual double | getSpindleMass () const override |
Return the mass of the spindle body. | |
virtual double | getTorquerodMass () const override |
Return the mass of the torque rod body. | |
virtual double | getLowerbeamMass () const override |
Return the mass of the lower beam body. | |
virtual double | getTransversebeamMass () const override |
Return the mass of the transverse beam body. | |
virtual double | getTierodMass () const override |
Return the mass of the tierod body. | |
virtual double | getAxlehousingRadius () const override |
Return the radius of the axle housing body (visualization only). | |
virtual double | getKnuckleRadius () const override |
Return the radius of the knuckle body (visualization only). | |
virtual double | getSpindleRadius () const override |
Return the radius of the spindle body (visualization only). | |
virtual double | getSpindleWidth () const override |
Return the width of the spindle body (visualization only). | |
virtual double | getTorquerodRadius () const override |
Return the radius of the torque rod body (visualization only). | |
virtual double | getLowerbeamRadius () const override |
Return the radius of the lower beam body (visualization only). | |
virtual double | getTransversebeamRadius () const override |
Return the radius of the transverse beam body (visualization only). | |
virtual double | getTierodRadius () const override |
Return the radius of the tierod body (visualization only). | |
virtual const ChVector3d & | getAxlehousingInertia () const override |
Return the moments of inertia of the axle housing body. | |
virtual const ChVector3d & | getKnuckleInertia () const override |
Return the moments of inertia of the knuckle body. | |
virtual const ChVector3d & | getSpindleInertia () const override |
Return the moments of inertia of the spindle body. | |
virtual const ChVector3d & | getTorquerodInertia () const override |
Return the moments of inertia of the torque rod body. | |
virtual const ChVector3d & | getLowerbeamInertia () const override |
Return the moments of inertia of the lower beam body. | |
virtual const ChVector3d & | getTransversebeamInertia () const override |
Return the moments of inertia of the transverse beam body. | |
virtual const ChVector3d | getTierodInertia () const override |
Return the moments of inertia of the tierod body. | |
virtual double | getAxleInertia () const override |
Return the inertia of the axle shaft. | |
virtual double | getShockAHRestLength () const override |
Return the free (rest) length of the spring element. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockAHForceCallback () const override |
Return the functor object for shock force. | |
virtual double | getShockLBRestLength () const override |
Return the free (rest) length of the spring element. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | getShockLBForceCallback () const override |
Return the functor object for shock force. | |
virtual std::shared_ptr< ChVehicleBushingData > | getTierodBushingData () const override |
Return stiffness and damping data for the tierod bushings. | |
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virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
virtual bool | IsSteerable () const final override |
Specify whether or not this suspension can be steered. | |
virtual bool | IsIndependent () const final override |
Specify whether or not this is an independent suspension. | |
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector3d &location, double left_ang_vel=0, double right_ang_vel=0) override |
Initialize this suspension subsystem. | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the suspension subsystem. | |
virtual void | RemoveVisualizationAssets () override |
Remove visualization assets for the suspension subsystem. | |
virtual double | GetTrack () override |
Get the wheel track for the suspension subsystem. | |
virtual std::vector< ForceTSDA > | ReportSuspensionForce (VehicleSide side) const override |
Return current suspension TSDA force information on the specified side. | |
double | GetShockLBForce (VehicleSide side) const |
There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing. | |
double | GetShockLBLength (VehicleSide side) const |
Get the current length of the spring-damper element. | |
double | GetShockLBVelocity (VehicleSide side) const |
Get the current deformation velocity of the spring-damper element. | |
double | GetShockAHForce (VehicleSide side) const |
Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element. | |
double | GetShockAHLength (VehicleSide side) const |
Get the current length of the spring-damper element. | |
double | GetShockAHVelocity (VehicleSide side) const |
Get the current deformation velocity of the spring-damper element. | |
virtual void | LogConstraintViolations (VehicleSide side) override |
Log current constraint violations. | |
void | LogHardpointLocations (const ChVector3d &ref, bool inches=false) |
Log the locations of all hardpoints. | |
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const ChVector3d & | GetRelPosition () const |
Get the location of the suspension subsystem relative to the associated chassis reference frame. | |
std::shared_ptr< ChBody > | GetSpindle (VehicleSide side) const |
Get a handle to the spindle body on the specified side. | |
std::shared_ptr< ChShaft > | GetAxle (VehicleSide side) const |
Get a handle to the axle shaft on the specified side. | |
std::shared_ptr< ChLinkLockRevolute > | GetRevolute (VehicleSide side) const |
Get a handle to the revolute joint on the specified side. | |
const ChVector3d & | GetSpindlePos (VehicleSide side) const |
Get the global location of the spindle on the specified side. | |
ChQuaternion | GetSpindleRot (VehicleSide side) const |
Get the orientation of the spindle body on the specified side. | |
const ChVector3d & | GetSpindleLinVel (VehicleSide side) const |
Get the linear velocity of the spindle body on the specified side. | |
ChVector3d | GetSpindleAngVel (VehicleSide side) const |
Get the angular velocity of the spindle body on the specified side. | |
double | GetAxleSpeed (VehicleSide side) const |
Get the angular speed of the axle on the specified side. | |
virtual void | Synchronize (double time) |
Synchronize this suspension subsystem. | |
virtual void | Advance (double step) |
Advance the state of the suspension subsystem by the specified time step. | |
void | ApplyAxleTorque (VehicleSide side, double torque) |
Apply the provided motor torque. | |
virtual std::shared_ptr< ChBody > | GetAntirollBody (VehicleSide side) const |
Specify the suspension body on the specified side to attach a possible antirollbar subsystem. | |
virtual std::shared_ptr< ChBody > | GetBrakeBody (VehicleSide side) const |
Specify the body on the specified side for a possible connection to brake subsystem. | |
virtual std::vector< ForceRSDA > | ReportSuspensionTorque (VehicleSide side) const |
Return current RSDA torque information on the specified side. | |
void | ApplyParkingBrake (bool brake) |
Simple model of a parking brake. | |
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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. | |
Additional Inherited Members | |
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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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enum | PointId { SPINDLE , KNUCKLE_L , KNUCKLE_U , TIEROD_C , TIEROD_K , TORQUEROD_C , TORQUEROD_AH , LOWERBEAM_C , LOWERBEAM_AH , LOWERBEAM_TB , SHOCKAH_C , SHOCKAH_AH , SHOCKLB_C , SHOCKLB_LB , KNUCKLE_CM , TORQUEROD_CM , LOWERBEAM_CM , NUM_POINTS } |
Identifiers for the various hardpoints. More... | |
enum | DirectionId { UNIV_AXIS_LOWERBEAM_BEAM , UNIV_AXIS_LOWERBEAM_CHASSIS , UNIV_AXIS_TORQUEROD_ROD , UNIV_AXIS_TORQUEROD_CHASSIS , NUM_DIRS } |
Identifiers for the various vectors. More... | |
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ChHendricksonPRIMAXX (const std::string &name) | |
virtual void | InitializeInertiaProperties () override |
Initialize subsystem inertia properties. | |
virtual void | UpdateInertiaProperties () override |
Update subsystem inertia properties. | |
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ChSuspension (const std::string &name) | |
Construct a suspension subsystem with given name. | |
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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. | |
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. | |
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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). | |
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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std::shared_ptr< ChBody > | m_knuckle [2] |
the knuckle bodies (left/right) | |
std::shared_ptr< ChBody > | m_torquerod [2] |
torquerod bodies (left/right) | |
std::shared_ptr< ChBody > | m_lowerbeam [2] |
lowerbeam bodies (left/right) | |
std::shared_ptr< ChBody > | m_transversebeam |
transversebeam body | |
std::shared_ptr< ChBody > | m_axlehousing |
axlehousing body | |
std::shared_ptr< ChBody > | m_tierod [2] |
tierod bodies, if used (left/right) | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteKingpin [2] |
knuckle-axle housing joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalTorquerod [2] |
torquerod-axle housing joints (left/right) | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteTorquerod [2] |
torquerod-chasis joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalLowerbeam [2] |
lowerbeam-axle housing joints (left/right) | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteLowerbeam [2] |
lowerbeam chasis joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalTB [2] |
transversebeam-lower beam joints (left/right) | |
std::shared_ptr< ChLinkDistance > | m_distTierod [2] |
tierod distance constraints (left/right) | |
std::shared_ptr< ChVehicleJoint > | m_sphericalTierod [2] |
tierod-upright spherical joints (left/right) | |
std::shared_ptr< ChVehicleJoint > | m_universalTierod [2] |
tierod-chassis universal joints (left/right) | |
std::shared_ptr< ChLinkTSDA > | m_shockLB [2] |
spring links (left/right) | |
std::shared_ptr< ChLinkTSDA > | m_shockAH [2] |
spring links (left/right) | |
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ChVector3d | m_rel_loc |
location relative to chassis | |
std::shared_ptr< ChBody > | m_spindle [2] |
handles to spindle bodies | |
std::shared_ptr< ChShaft > | m_axle [2] |
handles to axle shafts | |
std::shared_ptr< ChShaftBodyRotation > | m_axle_to_spindle [2] |
handles to spindle-shaft connectors | |
std::shared_ptr< ChLinkLockRevolute > | m_revolute [2] |
handles to spindle revolute joints | |
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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 | |
Member Function Documentation
◆ getAxlehousingCOM()
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inlineoverridevirtual |
Return the center of mass of the axle tube.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getAxlehousingInertia()
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inlineoverridevirtual |
Return the moments of inertia of the axle housing body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getAxlehousingMass()
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inlineoverridevirtual |
Return the mass of the axle housing body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getAxlehousingRadius()
|
inlineoverridevirtual |
Return the radius of the axle housing body (visualization only).
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getAxleInertia()
|
inlineoverridevirtual |
Return the inertia of the axle shaft.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getKnuckleInertia()
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inlineoverridevirtual |
Return the moments of inertia of the knuckle body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getKnuckleMass()
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inlineoverridevirtual |
Return the mass of the knuckle body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getKnuckleRadius()
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inlineoverridevirtual |
Return the radius of the knuckle body (visualization only).
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getLowerbeamInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the lower beam body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getLowerbeamMass()
|
inlineoverridevirtual |
Return the mass of the lower beam body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getLowerbeamRadius()
|
inlineoverridevirtual |
Return the radius of the lower beam body (visualization only).
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getShockAHForceCallback()
|
inlineoverridevirtual |
Return the functor object for shock force.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getShockAHRestLength()
|
inlineoverridevirtual |
Return the free (rest) length of the spring element.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getShockLBForceCallback()
|
inlineoverridevirtual |
Return the functor object for shock force.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getShockLBRestLength()
|
inlineoverridevirtual |
Return the free (rest) length of the spring element.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getSpindleInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the spindle body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getSpindleMass()
|
inlineoverridevirtual |
Return the mass of the spindle body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getSpindleRadius()
|
inlineoverridevirtual |
Return the radius of the spindle body (visualization only).
Implements chrono::vehicle::ChSuspension.
◆ getSpindleWidth()
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inlineoverridevirtual |
Return the width of the spindle body (visualization only).
Implements chrono::vehicle::ChSuspension.
◆ getTierodBushingData()
|
inlineoverridevirtual |
Return stiffness and damping data for the tierod bushings.
Used only if tierod bodies are defined (see UseTierodBody). Returning nullptr (default) results in using kinematic joints (spherical + universal).
Reimplemented from chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTierodInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the tierod body.
Reimplemented from chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTierodMass()
|
inlineoverridevirtual |
Return the mass of the tierod body.
Reimplemented from chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTierodRadius()
|
inlineoverridevirtual |
Return the radius of the tierod body (visualization only).
Reimplemented from chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTorquerodInertia()
|
inlineoverridevirtual |
Return the moments of inertia of the torque rod body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTorquerodMass()
|
inlineoverridevirtual |
Return the mass of the torque rod body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTorquerodRadius()
|
inlineoverridevirtual |
Return the radius of the torque rod body (visualization only).
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTransversebeamCOM()
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inlineoverridevirtual |
Return the center of mass of the transverse beam.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTransversebeamInertia()
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inlineoverridevirtual |
Return the moments of inertia of the transverse beam body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTransversebeamMass()
|
inlineoverridevirtual |
Return the mass of the transverse beam body.
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ getTransversebeamRadius()
|
inlineoverridevirtual |
Return the radius of the transverse beam body (visualization only).
Implements chrono::vehicle::ChHendricksonPRIMAXX.
◆ UseTierodBodies()
|
inlineoverridevirtual |
Indicate whether or not tirod bodies are modelled (default: false).
If false, tierods are modelled using distance constraints. If true, rigid tierod bodies are created (in which case a derived class must provide the mass and inertia) and connected either with kinematic joints or bushings (depending on whether or not bushing data is defined).
Reimplemented from chrono::vehicle::ChHendricksonPRIMAXX.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono_vehicle/wheeled_vehicle/suspension/HendricksonPRIMAXX.h
- C:/M/B/src/chrono-9.0.1/src/chrono_vehicle/wheeled_vehicle/suspension/HendricksonPRIMAXX.cpp