Project Chrono: chrono::vehicle Namespace Reference

Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
chrono::vehicle Namespace Reference
VEHICLE module

## Description

Namespace with classes for the VEHICLE module.

## Namespaces
namespace | artcar
| Namespace for the artcar vehicle model.
namespace | bmw
| Namespace for the BMW 330i vehicle model.
namespace | hmmwv
| Namespace for the HMMWV vehicle model.
namespace | feda
| Namespace for the FED-alpha vehicle model.
namespace | sedan
| Namespace for the passenger vehicle model.
namespace | uaz
| Namespace for the UAZ vehicle model.
namespace | citybus
| Namespace for the bus vehicle model.
namespace | generic
| Namespace for the generic wheeled vehicle model.
namespace | m113
| Namespace for the M113 track vehicle model.
namespace | man
| Namespace for the MAN truck vehicle models.
namespace | marder
| Namespace for the Marder track vehicle model.
namespace | mrole
| Namespace for the MROLE multi-purpose wheeled vehicle model.
namespace | gator
| Namespace for the Gator vehicle model.
namespace | fmtv
| Namespace for the FMTV vehicle models.
namespace | kraz
| namespace for the Kraz truck vehicle model
namespace | gclass
| namespace for the Mercedes G500 vehicle model
namespace | duro
| namespace for the Duro vehicle model
namespace | unimog
| namespace for the Unimog 401 vehicle model
namespace | WheeledCollisionFamily
| Enumerations for wheeled vehicle collision families.
namespace | TrackedCollisionFlag
| Enumerations for track collision flags.
namespace | TrackedCollisionFamily
| Enumerations for tracked vehicle collision families.

## Classes
class | ChassisConnectorArticulated
| Articulated chassis connector model constructed with data from file (JSON format). More...
class | ChassisConnectorHitch
| Hitch chassis connector model constructed with data from file (JSON format). More...
class | ChassisConnectorTorsion
| Torsion chassis connector model constructed with data from file (JSON format). More...
class | ChChassisConnectorArticulated
| Template for an articulation chassis connector. More...
class | ChChassisConnectorHitch
| Template for a hitch chassis connector. This is a passive connector, modeled with a spherical joint. More...
class | ChChassisConnectorTorsion
| Template for a torsion chassis connector. More...
class | ChRigidChassis
| Template for a rigid-body main chassis vehicle subsystem. More...
class | ChRigidChassisRear
| Template for a rigid-body rear chassis vehicle subsystem. More...
class | RigidChassis
| Vehicle rigid chassis model constructed with data from file (JSON format). More...
class | RigidChassisRear
| Vehicle rigid rear chassis model constructed with data from file (JSON format). More...
class | ChChassis
| Base class for the chassis vehicle subsystem. More...
class | ChChassisRear
| Base class for a rear chassis vehicle subsystem. More...
class | ChChassisConnector
| Base class for a chassis connector subsystem. More...
class | ChDriveline
| Base class for a vehicle driveline subsystem. More...
class | ChDriver
| Base class for a vehicle driver system. More...
class | ChEngine
| Base class for an engine subsystem. More...
class | ChPart
| Base class for a vehicle subsystem. More...
class | ChPowertrainAssembly
| Defintion of a powertrain assembly system. More...
struct | BodyState
| Structure to communicate a full body state. More...
struct | WheelState
| Structure to communicate a full wheel body state. More...
struct | TerrainForce
| Structure to communicate a set of generalized terrain contact forces (tire or track shoe). More...
struct | DriverInputs
| Driver (vehicle control) inputs. More...
class | SpringForce
| Base class for linear and nonlinear translational spring forces. More...
class | LinearSpringForce
| Utility class for specifying a linear translational spring force with pre-tension. More...
class | NonlinearSpringForce
| Utility class for specifying a nonlinear translational spring force with pre-tension. More...
class | LinearDamperForce
| Utility class for specifying a linear translational damper force. More...
class | NonlinearDamperForce
| Utility class for specifying a nonlinear translational damper force. More...
class | DegressiveDamperForce
| Utility class for specifying a degressive translational damper force. More...
class | LinearSpringDamperForce
| Utility class for specifying a linear translational spring-damper force with pre-tension. More...
class | NonlinearSpringDamperForce
| Utility class for specifying a nonlinear translational spring-damper force with pre-tension. More...
class | MapSpringDamperForce
| Utility class for specifying a general nonlinear translational spring-damper force with pre-tension. More...
class | LinearSpringTorque
| Utility class for specifying a linear rotational spring torque. More...
class | NonlinearSpringTorque
| Utility class for specifying a nonlinear rotational spring torque. More...
class | LinearDamperTorque
| Utility class for specifying a linear rotational damper torque. More...
class | NonlinearDamperTorque
| Utility class for specifying a nonlinear rotational damper torque. More...
class | LinearSpringDamperTorque
| Utility class for specifying a linear rotational spring-damper torque. More...
class | NonlinearSpringDamperTorque
| Utility class for specifying a nonlinear rotational spring-damper torque. More...
class | ChTerrain
| Base class for a terrain system. More...
class | ChTransmission
| Base class for a transmission subsystem. More...
class | ChVehicle
| Base class for chrono vehicle systems. More...
class | ChVehicleGeometry
| Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle body. More...
class | ChTSDAGeometry
| Utility class defining visualization geometry for a vehicle TSDA. More...
struct | ChVehicleBushingData
| Stiffness and damping data for a vehicle bushing specification. More...
class | ChVehicleJoint
| Wrapper class for a joint in a vehicle system which can be either a kinematic joint or a bushing. More...
class | ChVehicleOutput
| Base class for a vehicle output database. More...
class | ChVehicleVisualSystemIrrlicht
| custom event receiver for chase-cam control More...
class | ChVehicleVisualSystemOpenGL
| OpenGL-based Chrono run-time visualization system. More...
class | ChVehicleVisualSystemVSG
| VSG-based Chrono run-time visualization system. More...
class | ChWorldFrame
| Definition of the world frame for Chrono::Vehicle simulations. More...
class | ChVehicleCosimBaseNode
| Base class for a co-simulation node. More...
class | ChVehicleCosimDBPRig
| Base class for a drawbar-pull rig mechanism. More...
class | ChVehicleCosimDBPRigImposedSlip
| Drawbar-pull rig mechanism with imposed slip. More...
class | ChVehicleCosimDBPRigImposedAngVel
| Drawbar-pull rig mechanism with imposed angular velocity. More...
class | ChVehicleCosimOtherNode
| Definition of an additional MPI node not directly involved in co-simulation. More...
class | ChVehicleCosimTerrainNode
| Base class for a terrain node. More...
class | ChVehicleCosimTireNode
| Base class for all tire nodes. More...
class | ChVehicleCosimTrackedMBSNode
| Base class for all MBS nodes with tracks. More...
class | ChVehicleCosimWheeledMBSNode
| Base class for all MBS nodes with wheels. More...
class | ChVehicleCosimCuriosityNode
| Curiosity rover co-simulation node. More...
class | ChVehicleCosimRigNode
| Mechanism for a single-wheel testing rig. More...
class | ChVehicleCosimTrackedVehicleNode
| Tracked vehicle co-simulation node. More...
class | ChVehicleCosimViperNode
| Viper rover co-simulation node. More...
class | ChVehicleCosimWheeledVehicleNode
| Wheeled vehicle co-simulation node. More...
class | ChVehicleCosimTerrainNodeChrono
| Base class for terrain nodes that use one of the Chrono terrain formulations. More...
class | ChVehicleCosimTerrainNodeGranularGPU
| Definition of the GPU granular terrain node (using Chrono::Gpu). More...
class | ChVehicleCosimTerrainNodeGranularOMP
| Definition of the OpenMP granular terrain node (using Chrono::Multicore). More...
class | ChVehicleCosimTerrainNodeGranularSPH
| Definition of the SPH continuum representation of granular terrain node (using Chrono::FSI). More...
class | ChVehicleCosimTerrainNodeRigid
| Definition of the rigid terrain node (using Chrono::Multicore). More...
class | ChVehicleCosimTerrainNodeSCM
| Definition of the SCM deformable terrain node. More...
class | ChVehicleCosimTireNodeBypass
| Definition of the bypass tire node. More...
class | ChVehicleCosimTireNodeFlexible
| Definition of the flexible tire node. More...
class | ChVehicleCosimTireNodeRigid
| Definition of the rigid tire node. More...
class | AIDriver
| Driver. More...
class | ChAIDriver
| Driver. More...
class | ChDataDriver
| Driver inputs from data file. More...
class | ChHumanDriver
| Closed-loop path-follower and speed maintaining driver model. More...
class | ChInteractiveDriver
| Interactive driver for the a vehicle. More...
struct | ChJoystickAxisIRR
| Irrlicht interface to a specific joystick axis and its calibration data. More...
struct | ChJoystickButtonIRR
| Irrlicht interface to a specific joystick button. More...
class | ChInteractiveDriverIRR
| Irrlicht-based interactive driver for the a vehicle. More...
class | ChInteractiveDriverVSG
| VSG-based interactive driver for the a vehicle. More...
class | ChPathFollowerACCDriver
| Closed-loop path-follower driver model. More...
class | ChClosedLoopDriver
| Base class for closed-loop path-follower driver modesl. More...
class | ChPathFollowerDriver
| Path-following driver system using a default PID lateral steering controller. More...
class | ChPathFollowerDriverXT
| Path-following driver system using an extended PID lateral steering controller. More...
class | ChPathFollowerDriverSR
| Path-following driver system using a P-like lateral steering controller with variable path prediction. More...
class | ChPathFollowerDriverStanley
| Path-following driver system using a lateral steering controller as used on the Stanley AV. More...
class | ChVehicleOutputASCII
| ASCII text vehicle output database. More...
class | ChVehicleOutputHDF5
| HDF5 vehicle output database. More...
class | AutomaticTransmissionShafts
| Shafts-based automatic transmission subsystem (specified through JSON file). More...
class | AutomaticTransmissionSimpleMap
| Automatic transmission model template based on a simple gear-shifting model (specified through JSON file). More...
class | ChAutomaticTransmissionShafts
| Template for an automatic transmission model using shaft elements. More...
class | ChAutomaticTransmissionSimpleMap
| Template for an automatic transmission model based on a simple gear-shifting model. More...
class | ChEngineShafts
| Template for an engine model using shaft elements. More...
class | ChEngineSimple
| Template for simplified engine model. More...
class | ChEngineSimpleMap
| Template for simple engine model based on speed-torque engine maps. More...
class | ChManualTransmissionShafts
| Template for a manual transmission model using shaft elements. More...
class | EngineShafts
| Shafts-based engine subsystem (specified through JSON file). More...
class | EngineSimple
| Simple engine subsystem (specified through JSON file). More...
class | EngineSimpleMap
| Simple speed-torque engine map subsystem (specified through JSON file). More...
class | ManualTransmissionShafts
| Shafts-based automatic transmission subsystem (specified through JSON file). More...
class | CRGTerrain
| Concrete class for a (rigid) road loaded from an OpenCRG file. More...
class | CRMTerrain
| Continuum representation (CRM) deformable terrain model using SPH. More...
class | FEATerrain
| FEA Deformable terrain model. More...
class | FlatTerrain
| Concrete class for a flat horizontal terrain. More...
class | GranularTerrain
| Granular terrain model. More...
class | ObsModTerrain
| Concrete class for a flat horizontal terrain. More...
class | RandomSurfaceTerrain
| Terrain object representing an uneven area with controlled roughness. More...
class | RigidTerrain
| Rigid terrain model. More...
class | SCMTerrain
| Deformable terrain model. More...
class | SCMContactableData
| Parameters for soil-contactable interaction. More...
class | SCMLoader
| Underlying implementation of the Soil Contact Model. More...
class | ChTrackBrakeShafts
| Brake for tracked vehicles modeled using a clutch between two shafts. More...
class | ChTrackBrakeSimple
| Simple brake created with constant torque opposing sprocket rotation. More...
class | TrackBrakeShafts
| Tracked vehicle shafts-based brake model constructed with data from file (JSON format). More...
class | TrackBrakeSimple
| Tracked vehicle simple brake model constructed with data from file (JSON format). More...
class | ChDrivelineTV
| Base class for a tracked vehicle driveline. More...
class | ChIdler
| Base class for an idler subsystem. More...
class | ChSprocket
| Base class for a tracked vehicle sprocket. More...
class | ChTrackAssembly
| Definition of a track assembly. More...
class | ChTrackBrake
| Base class for a tracked vehicle brake subsystem. More...
class | ChTrackContactManager
| Class for monitoring contacts of tracked vehicle subsystems. More...
class | ChTrackCustomContact
| Callback interface for user-defined custom contact between road wheels and track shoes. More...
class | ChTrackedVehicle
| Base class for chrono tracked vehicle systems. More...
class | ChTrackedVehicleVisualSystemIrrlicht
| Customized Chrono Irrlicht visualization system for tracked vehicle simulation. More...
class | ChTrackedVehicleVisualSystemVSG
| Customized Chrono::VSG visualization system for tracked vehicle simulation. More...
class | ChTrackShoe
| Base class for a track shoe. More...
class | ChTrackSuspension
| Base class for a tracked vehicle suspension subsystem. More...
class | ChTrackWheel
| Base class for a track wheel subsystem. More...
class | ChSimpleTrackDriveline
| Simple driveline model for a tracked vehicle. More...
class | ChTrackDrivelineBDS
| Track driveline model template based on ChShaft objects. More...
class | SimpleTrackDriveline
| Simple tracked vehicle driveline model template using data from file (JSON format). More...
class | TrackDrivelineBDS
| BDS tracked vehicle driveline model template using data from file (JSON format). More...
class | ChDistanceIdler
| Base class for an idler subsystem with a fixed distance tensioner. More...
class | ChTranslationalIdler
| Base class for an idler subsystem with a translational tensioner. More...
class | DistanceIdler
| Distance idler model constructed with data from file (JSON format). More...
class | TranslationalIdler
| Translational idler model constructed with data from file (JSON format). More...
class | ChSprocketBand
| Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
class | ChSprocketDoublePin
| Base class for a sprocket template with gear profile composed of circular arcs and a flat seat. More...
class | ChSprocketSinglePin
| Base class for a sprocket template with gear profile composed of circular arcs. More...
class | SprocketBand
| Tracked vehicle continuous-band sprocket model constructed with data from file (JSON format). More...
class | SprocketDoublePin
| Tracked vehicle double-pin sprocket model constructed with data from file (JSON format). More...
class | SprocketSinglePin
| Tracked vehicle single-pin sprocket model constructed with data from file (JSON format). More...
class | ChRotationalDamperSuspension
| Base class for a torsion-bar suspension system using a rotational damper (template definition). More...
class | ChTranslationalDamperSuspension
| Base class for a torsion-bar suspension system using linear dampers (template definition). More...
class | RotationalDamperSuspension
| Torsion-bar suspension system using linear dampers constructed with data from file (JSON format). More...
class | TranslationalDamperSuspension
| Torsion-bar suspension system using linear dampers constructed with data from file (JSON format). More...
class | ChTrackTestRig
| Definition of a suspension test rig. More...
class | ChTrackTestRigDataDriver
| Driver inputs for a track test rig from data file. More...
class | ChTrackTestRigDriver
| Base class for a track test rig driver system. More...
class | ChTrackTestRigInteractiveDriverIRR
| Irrlicht-based GUI driver for the a track test rig. More...
class | ChTrackTestRigInteractiveDriverVSG
| VSG-based GUI driver for the a track test rig. More...
class | ChTrackTestRigRoadDriver
| Driver inputs for a track test rig based on road profile. More...
class | ChTrackTestRigVisualSystemIrrlicht
| Customized Chrono Irrlicht application for track test rig visualization. More...
class | ChTrackAssemblyBand
| Definition of a continuous band track assembly. More...
class | ChTrackAssemblyBandANCF
| Definition of a continuous band track assembly using an ANCFshell-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...
class | ChTrackAssemblyBandBushing
| Definition of a continuous band track assembly using a bushing-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. More...
class | ChTrackAssemblyDoublePin
| Definition of a double-pin track assembly. More...
class | ChTrackAssemblySegmented
| Base class for segmented track assemblies. More...
class | ChTrackAssemblySinglePin
| Definition of a single-pin track assembly. More...
class | TrackAssemblyBandANCF
| Band-ANCF track assembly model constructed from a JSON specification file. More...
class | TrackAssemblyBandBushing
| Band-bushing track assembly model constructed from a JSON specification file. More...
class | TrackAssemblyDoublePin
| Double-pin track assembly model constructed from a JSON specification file. More...
class | TrackAssemblySinglePin
| Single-pin track assembly model constructed from a JSON specification file. More...
class | ChTrackShoeBand
| Base class for continuous band track shoes using rigid treads. More...
class | ChTrackShoeBandANCF
| Base class for a continuous band track shoe using an ANCFshell-based web. More...
class | ChTrackShoeBandBushing
| Base class for a continuous band track shoe using a bushing-based web. More...
class | ChTrackShoeDoublePin
| Base class for a double-pin track shoe (template definition). More...
class | ChTrackShoeSegmented
| Base class for segmented track shoes. More...
class | ChTrackShoeSinglePin
| Base class for a single-pin track shoe (template definition). More...
class | TrackShoeBandANCF
| Band-ANCF track shoe with central guide constructed with data from file (JSON format). More...
class | TrackShoeBandBushing
| Band-bushing track shoe with central guide constructed with data from file (JSON format). More...
class | TrackShoeDoublePin
| Double-pin track shoe with central guide constructed with data from file (JSON format). More...
class | TrackShoeSinglePin
| Single-pin track shoe with central guide constructed with data from file (JSON format). More...
class | ChDoubleTrackWheel
| Base class for a double track wheel (template definition). More...
class | ChSingleTrackWheel
| Base class for a single track wheel (template definition). More...
class | DoubleTrackWheel
| Double track-wheel model constructed with data from file (JSON format). More...
class | SingleTrackWheel
| Single track-wheel model constructed with data from file (JSON format). More...
class | TrackedVehicle
| Tracked vehicle model constructed from a JSON specification file. More...
class | ChAdaptiveSpeedController
| Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
class | ChSpeedController
| Data collection from the speed controller can be started (restarted) and suspended (stopped) as many times as desired. More...
class | ChSteeringController
| Base class for all steering path-following PID controllers. More...
class | ChPathSteeringController
| Path-following steering PID controller. More...
class | ChPathSteeringControllerXT
| Path-following steering 3(2) channel PDT1/PT1 controller. More...
class | ChMapData
| Utility class for reading and setting an (x,y) map. More...
class | AntirollBarRSD
| RSD antirollbar model constructed with data from file (JSON format). More...
class | ChAntirollBarRSD
| Template for an anti-roll subsystem using an RSD. More...
class | BrakeShafts
| Wheeled vehicle shafts-based brake model constructed with data from file (JSON format). More...
class | BrakeSimple
| Vehicle simple brake model constructed with data from file (JSON format). More...
class | ChBrakeShafts
| Brake for wheeled vehicles modeled using a clutch between two shafts. More...
class | ChBrakeSimple
| Template for a simple brake subsystem. More...
class | ChAntirollBar
| Base class for an anti-roll bar subsystem. More...
class | ChAxle
| Base class for a suspension subsystem. More...
class | ChBrake
| Base class for a brake subsystem. More...
class | ChDrivelineWV
| Base class for a wheeled vehicle driveline subsystem. More...
class | ChSteering
| Base class for a steering subsystem. More...
class | ChSubchassis
| Base class for a sub-chassis system for wheeled vehicles. More...
class | ChSuspension
| Base class for a suspension subsystem. More...
class | ChTire
| Base class for a tire system. More...
class | ChWheel
| Base class for a vehicle wheel subsystem. More...
class | ChWheeledTrailer
| Base class for chrono wheeled trailer systems. More...
class | ChWheeledVehicle
| Base class for chrono wheeled vehicle systems. More...
class | ChWheeledVehicleVisualSystemIrrlicht
| Customized Chrono Irrlicht visualization system for wheeled vehicle simulation. More...
class | ChWheeledVehicleVisualSystemVSG
| Customized Chrono::VSG visualization system for wheeled vehicle simulation. More...
class | ChShaftsDriveline2WD
| 2WD driveline model template based on ChShaft objects. More...
class | ChShaftsDriveline4WD
| 4WD driveline model template based on ChShaft objects. More...
class | ChShaftsDriveline6WD
| 4WD driveline model template based on ChShaft objects. More...
class | ChShaftsDriveline8WD
| 4WD driveline model template based on ChShaft objects. More...
class | ChSimpleDriveline
| Simple driveline model. More...
class | ChSimpleDrivelineXWD
| Simple driveline model. More...
class | ShaftsDriveline2WD
| 2WD driveline model template based on ChShaft objects using data from file (JSON format). More...
class | ShaftsDriveline4WD
| 4WD driveline model template based on ChShaft objects using data from file (JSON format). More...
class | SimpleDriveline
| Simple driveline model template using data from file (JSON format). More...
class | SimpleDrivelineXWD
| Simple driveline model template using data from file (JSON format). More...
class | ChPitmanArm
| Base class for a Pitman Arm steering subsystem. More...
class | ChPitmanArmShafts
| Base class for a Pitman Arm steering subsystem with compliant steering column. More...
class | ChRackPinion
| Base class for a Rack-Pinion steering subsystem. More...
class | ChRotaryArm
| Base class for a Toe Bar steering subsystem. More...
class | PitmanArm
| Pitman arm steering model constructed with data from file (JSON format). More...
class | RackPinion
| Rack-pinion steering model constructed with data from file (JSON format). More...
class | RotaryArm
| RotaryArm-pinion steering model constructed with data from file (JSON format). More...
class | Balancer
| Balancer subchassis system constructed with data from file. More...
class | ChBalancer
| Template for a balancer subchassis system. More...
class | ChDeDionAxle
| Base class for a DeDion solid axle suspension. More...
class | ChDoubleWishbone
| Base class for a double-A arm suspension modeled with bodies and constraints. More...
class | ChDoubleWishboneReduced
| Base class for a double-A arm suspension modeled with distance constraints. More...
class | ChGenericWheeledSuspension
| Base class for a generic wheeled vehicle suspension. More...
class | ChHendricksonPRIMAXX
| Base class for a Hendrickson PRIMAXX EX suspension. More...
class | ChLeafspringAxle
| Base class for a leaf-spring solid axle suspension. More...
class | ChMacPhersonStrut
| Base class for a MacPherson strut modeled with bodies and constraints. More...
class | ChMultiLink
| Base class for a multi-link suspension modeled with bodies and constraints. More...
class | ChPushPipeAxle
| Base class for a DeDion solid axle suspension. More...
class | ChRigidPanhardAxle
| Base class for a solid Panhard axle suspension. More...
class | ChRigidPinnedAxle
| Base class for a rigid suspension with a pinned axle. More...
class | ChRigidSuspension
| Base class for a rigid suspension, i.e. More...
class | ChSAELeafspringAxle
| Base class for a leaf-spring solid axle suspension. More...
class | ChSemiTrailingArm
| Base class for a semi-trailing arm suspension (non-steerable). More...
class | ChSingleWishbone
| Base class for a double-A arm suspension modeled with bodies and constraints. More...
class | ChSolidAxle
| Base class for a solid axle suspension modeled with bodies and constraints. More...
class | ChSolidBellcrankThreeLinkAxle
| Base class for a coil-spring or air-spring solid axle suspension, typically combined with the rotary arm steering. More...
class | ChSolidThreeLinkAxle
| Base class for a coil-spring or air-spring solid axle suspension. More...
class | ChThreeLinkIRS
| Base class for a 3-link independent rear suspension (non-steerable). More...
class | ChToeBarDeDionAxle
| Base class for a steerable leaf-spring solid axle suspension. More...
class | ChToeBarLeafspringAxle
| Base class for a steerable leaf-spring solid axle suspension. More...
class | ChToeBarPushPipeAxle
| Base class for a steerable leaf-spring solid axle suspension. More...
class | ChToeBarRigidPanhardAxle
| Base class for a steerable solid Panhard axle suspension. More...
class | DeDionAxle
| Leaf-spring solid axle suspension constructed with data from file. More...
class | DoubleWishbone
| Double-A arm suspension constructed with data from file. More...
class | DoubleWishboneReduced
| Reduced double-A arm suspension constructed with data from file. More...
class | GenericWheeledSuspension
| Generic wheeled vehicle suspension constructed with data from file. More...
class | HendricksonPRIMAXX
| Hendrickson PRIMAXX suspension constructed with data from file. More...
class | LeafspringAxle
| Leaf-spring solid axle suspension constructed with data from file. More...
class | MacPhersonStrut
| MacPherson strut suspension constructed with data from file. More...
class | MultiLink
| Multi-link suspension constructed with data from file. More...
class | PushPipeAxle
| Leaf-spring solid axle suspension constructed with data from file. More...
class | RigidPanhardAxle
| Solid Panhard axle suspension constructed with data from file. More...
class | RigidPinnedAxle
| Rigid suspension with pinned axle constructed with data from file. More...
class | RigidSuspension
| Rigid suspension constructed with data from file. More...
class | SAELeafspringAxle
| Leaf-spring solid axle suspension constructed with data from file. More...
class | SAEToeBarLeafspringAxle
| Steerable leaf-spring solid axle suspension constructed with data from file. More...
class | SemiTrailingArm
| Semi-trailing arm suspension constructed with data from file. More...
class | SingleWishbone
| Single A-arm suspension constructed with data from file. More...
class | SolidAxle
| Solid axle suspension constructed with data from file. More...
class | SolidBellcrankThreeLinkAxle
| solid axle suspension constructed with data from file. More...
class | SolidThreeLinkAxle
| Leaf-spring solid axle suspension constructed with data from file. More...
class | ThreeLinkIRS
| Three-link Independent Rear Suspension constructed with data from file. More...
class | ToeBarDeDionAxle
| Steerable leaf-spring solid axle suspension constructed with data from file. More...
class | ToeBarLeafspringAxle
| Steerable leaf-spring solid axle suspension constructed with data from file. More...
class | ToeBarPushPipeAxle
| Steerable leaf-spring solid axle suspension constructed with data from file. More...
class | ToeBarRigidPanhardAxle
| Steerable leaf-spring solid axle suspension constructed with data from file. More...
class | ChSuspensionTestRig
| Base class for a suspension test rig. More...
class | ChSuspensionTestRigPlatform
| Definition of a suspension test rig using platforms to actuate the tires. More...
class | ChSuspensionTestRigPushrod
| Definition of a suspension test rig with direct actuation on the spindle bodies. More...
class | ChSuspensionTestRigDataDriver
| Driver inputs for a suspension test rig from data file. More...
class | ChSuspensionTestRigDriver
| Base class for a suspension test rig driver system. More...
class | ChSuspensionTestRigInteractiveDriverIRR
| Irrlicht-based GUI driver for the a suspension test rig. More...
class | ChSuspensionTestRigInteractiveDriverVSG
| VSG-based GUI driver for the a suspension test rig. More...
class | ChTireTestRig
| Definition of a single-tire test rig. More...
class | ANCFTire
| ANCF tire constructed with data from file (JSON format). More...
class | ChANCFTire
| ANCF tire template. More...
class | ChDeformableTire
| Base class for a deformable tire model. More...
class | ChFEATire
| Co-rotational FEA tire template. More...
class | ChFialaTire
| Fiala based tire model. More...
class | ChForceElementTire
| Base class for a force element (handling) tire model. More...
class | ChPac02Tire
| Pacjeka 02 tire model. More...
class | ChPac89Tire
| Pacjeka 89 tire model. More...
class | ChReissnerTire
| Tire template for tires based on Reissner shells. More...
class | ChRigidTire
| Rigid tire model. More...
class | ChTMeasyTire
| TMeasy handling tire model. More...
class | ChTMsimpleTire
| TMsimple handling tire model. More...
class | FEATire
| Co-rotational FEA tire constructed with data from file (JSON format). More...
class | FialaTire
| Fiala tire constructed with data from file (JSON format). More...
class | Pac02Tire
| PAC89 tire model from JSON file. More...
class | Pac89Tire
| PAC89 tire model from JSON file. More...
class | ReissnerTire
| Tire with Reissner shells, constructed with data from file (JSON format). More...
class | RigidTire
| Rigid tire constructed with data from file (JSON format). More...
class | TMeasyTire
| TMeasy tire constructed with data from file (JSON format). More...
class | TMsimpleTire
| TMeasy tire constructed with data from file (JSON format). More...
class | WheeledTrailer
| Wheeled trailer model constructed from a JSON specification file. More...
class | WheeledVehicle
| Wheeled vehicle model constructed from a JSON specification file. More...
class | Wheel
| Vehicle wheel constructed with data from file (JSON format). More...

## Typedefs
typedef std::vector< std::shared_ptr< ChChassisRear > > | ChChassisRearList
| Vector of handles to rear chassis subsystems.
typedef std::vector< std::shared_ptr< ChChassisConnector > > | ChChassisConnectorList
| Vector of handles to rear chassis subsystems.
typedef std::vector< BodyState > | BodyStates
| Vector of body state structures.
typedef std::vector< WheelState > | WheelStates
| Vector of wheel state structures.
typedef std::vector< TerrainForce > | TerrainForces
| Vector of terrain conatct force structures.
typedef std::vector< std::shared_ptr< ChSprocket > > | ChSprocketList
| Vector of handles to sprocket subsystems.
typedef std::vector< std::shared_ptr< ChTrackBrake > > | ChTrackBrakeList
| Vector of handles to brake subsystems.
typedef std::vector< std::shared_ptr< ChTrackShoe > > | ChTrackShoeList
| Vector of handles to track shoe subsystems.
typedef std::vector< std::shared_ptr< ChTrackSuspension > > | ChTrackSuspensionList
| Vector of handles to track suspension subsystems.
typedef std::vector< std::shared_ptr< ChTrackWheel > > | ChTrackWheelList
| Vector of track wheel subsystems.
typedef std::vector< std::shared_ptr< ChTrackShoeBand > > | ChTrackShoeBandList
| Vector of handles to continuous band track shoe subsystems.
typedef std::vector< std::shared_ptr< ChTrackShoeBandANCF > > | ChTrackShoeBandANCFList
| Vector of continuous band ANCFshell-based track shoe subsystems.
typedef std::vector< std::shared_ptr< ChTrackShoeBandBushing > > | ChTrackShoeBandBushingList
| Vector of continuous band bushing-based track shoe subsystems.
typedef std::vector< std::shared_ptr< ChTrackShoeDoublePin > > | ChTrackShoeDoublePinList
| Vector of double-pin track shoe subsystems.
typedef std::vector< std::shared_ptr< ChTrackShoeSinglePin > > | ChTrackShoeSinglePinList
| Vector of single-pin track shoe subsystems.
typedef std::vector< std::shared_ptr< ChAntirollBar > > | ChAntirollbarList
| Vector of handles to antirollbar subsystems.
typedef std::vector< std::shared_ptr< ChAxle > > | ChAxleList
| Vector of handles to axle subsystems.
typedef std::vector< std::shared_ptr< ChBrake > > | ChBrakeList
| Vector of handles to brake subsystems.
typedef std::vector< std::shared_ptr< ChSteering > > | ChSteeringList
| Vector of handles to steering subsystems.
typedef std::vector< std::shared_ptr< ChSubchassis > > | ChSubchassisList
| Vector of handles to subchassis subsystems.
typedef std::vector< std::shared_ptr< ChSuspension > > | ChSuspensionList
| Vector of handles to suspension subsystems.
typedef std::vector< std::shared_ptr< ChTire > > | ChTireList
| Vector of handles to tire subsystems.
typedef std::vector< std::shared_ptr< ChWheel > > | ChWheelList
| Vector of handles to wheel subsystems.

## Enumerations
enum class | CollisionType { NONE , PRIMITIVES , HULLS , MESH }
| Enumeration of collision model types. More...
enum | VehicleSide { LEFT = 0 , RIGHT = 1 }
| Enum for the side (left/right) of a vehicle. More...
enum | WheelLocation { SINGLE = 0 , INNER = 1 , OUTER = 2 }
| Enum for wheel location on spindle. More...
enum class | VisualizationType { VisualizationType::NONE , VisualizationType::PRIMITIVES , VisualizationType::MESH }
| Enum for visualization types. More...
enum class | TireModelType { TireModelType::RIGID , TireModelType::RIGID_MESH , TireModelType::FIALA , TireModelType::ANCF , TireModelType::REISSNER , TireModelType::FEA , TireModelType::PAC89 , TireModelType::TMEASY , TireModelType::PAC02 , TireModelType::TMSIMPLE }
| Enum for available tire models. More...
enum class | EngineModelType { EngineModelType::SHAFTS , EngineModelType::SIMPLE_MAP , EngineModelType::SIMPLE }
| Enum for available engine model templates. More...
enum class | TransmissionModelType { TransmissionModelType::AUTOMATIC_SHAFTS , TransmissionModelType::AUTOMATIC_SIMPLE_MAP , TransmissionModelType::MANUAL_SHAFTS }
| Enum for available transmission model templates. More...
enum class | SuspensionTypeWV { SuspensionTypeWV::DEDION_AXLE , SuspensionTypeWV::DOUBLE_WISHBONE , SuspensionTypeWV::DOUBLE_WISHBONE_REDUCED , SuspensionTypeWV::HENDRICKSON_PRIMAXX , SuspensionTypeWV::LEAF_SPRING_AXLE , SuspensionTypeWV::SAE_LEAF_SPRING_AXLE , SuspensionTypeWV::MACPHERSON_STRUT , SuspensionTypeWV::MULTI_LINK , SuspensionTypeWV::RIGID_PINNED , SuspensionTypeWV::RIGID_SUSPENSION , SuspensionTypeWV::SEMI_TRAILING_ARM , SuspensionTypeWV::SOLID_AXLE , SuspensionTypeWV::SOLID_THREE_LINK_AXLE , SuspensionTypeWV::SOLID_BELLCRANK_THREE_LINK_AXLE , SuspensionTypeWV::THREE_LINK_IRS , SuspensionTypeWV::TOE_BAR_LEAF_SPRING_AXLE , SuspensionTypeWV::SAE_TOE_BAR_LEAF_SPRING_AXLE , SuspensionTypeWV::PUSHPIPE_AXLE , SuspensionTypeWV::TOEBAR_DEDION_AXLE , SuspensionTypeWV::TOEBAR_PUSHPIPE_AXLE }
| Enum for available wheeled-vehicle suspension model templates. More...
enum class | BrakeType { BrakeType::SHAFTS , BrakeType::SIMPLE }
| Enum for available brake model templates. More...
enum class | SteeringTypeWV { SteeringTypeWV::PITMAN_ARM , SteeringTypeWV::PITMAN_ARM_SHAFTS , SteeringTypeWV::RACK_PINION }
| Enum for available wheeled-vehicle steering model templates. More...
enum class | DrivelineTypeWV { DrivelineTypeWV::FWD , DrivelineTypeWV::RWD , DrivelineTypeWV::AWD , DrivelineTypeWV::AWD6 , DrivelineTypeWV::AWD8 , DrivelineTypeWV::SIMPLE , DrivelineTypeWV::SIMPLE_XWD }
| Enum for wheeled-vehicle driveline types. More...
enum class | DrivelineTypeTV { DrivelineTypeTV::BDS , DrivelineTypeTV::SIMPLE }
| Enum for tracked-vehicle driveline types. More...
enum class | TrackShoeType { TrackShoeType::SINGLE_PIN , TrackShoeType::DOUBLE_PIN , TrackShoeType::BAND_BUSHING , TrackShoeType::BAND_ANCF }
| Enum for track shoe types. More...
enum class | DoublePinTrackShoeType { DoublePinTrackShoeType::TWO_CONNECTORS , DoublePinTrackShoeType::ONE_CONNECTOR }
| Topology of the double-pin track shoe. More...
enum class | GuidePinType { GuidePinType::CENTRAL_PIN , GuidePinType::LATERAL_PIN }
| Enum for guide pin (track shoe/roadwheel/idler). More...
enum | OutputInformation { OUT_SPRINGS = 1 << 0 , OUT_SHOCKS = 1 << 1 , OUT_CONSTRAINTS = 1 << 2 , OUT_TESTRIG = 1 << 3 }
| Flags for output (log/debug). More...
enum | TrackedVehicleBodyTag { CHASSIS_BODY = -99990 , SPROCKET_BODY = -99991 , IDLER_BODY = -99992 , WHEEL_BODY = -99993 , ROLER_BODY = -99994 , SHOE_BODY = -99995 }
| Tags for specific component bodies.

## Functions
rapidjson::Value | Vec2Val (const ChVector3d &vec, rapidjson::Document::AllocatorType &allocator)
rapidjson::Value | Quat2Val (const ChQuaternion<> &q, rapidjson::Document::AllocatorType &allocator)
rapidjson::Value | Frame2Val (const ChFrame<> &frame, rapidjson::Document::AllocatorType &allocator)
rapidjson::Value | Csys2Val (const ChCoordsys<> &csys, rapidjson::Document::AllocatorType &allocator)
rapidjson::Value | Mat2Val (const ChMatrixNM< double, 6, 6 > &mat, rapidjson::Document::AllocatorType &allocator)
rapidjson::Value | VisualModel2Val (std::shared_ptr< ChVisualModel > model, rapidjson::Document::AllocatorType &allocator)
void | SetDataPath (const std::string &path)
| Set the path to the Chrono::Vehicle data directory (ATTENTION: not thread safe).
const std::string & | GetDataPath ()
| Get the current path to the Chrono::Vehicle data directory (thread safe).
std::string | GetDataFile (const std::string &filename)
| Get the complete path to the specified filename (thread safe).
void | DrawGauge (float val, float v_min, float v_max)
void | ShowHelp ()
std::string | format_number (int num, int precision)
ChVector3i | Snap2Grid (const ChVector3d point, double spacing)
bool | calcBarycentricCoordinates (const ChVector3d &v1, const ChVector3d &v2, const ChVector3d &v3, const ChVector3d &v, double &a1, double &a2, double &a3)
| ChPathSteeringControllerSR (std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false, double max_wheel_turn_angle=0.0, double axle_space=2.5)
| Path-following steering P-like controller with variable path prediction.
| ChPathSteeringControllerSR (const std::string &filename, std::shared_ptr< ChBezierCurve > path, bool isClosedPath=false, double max_wheel_turn_angle=0.0, double axle_space=2.5)
| Construct a steering controller to track the specified path.
void | SetGains (double Klat=0.1, double Kug=0.0)
void | SetPreviewTime (double Tp=0.5)
virtual double | Advance (const ChFrameMoving<> &ref_frame, double time, double step) override
| Advance the state of the SR controller.
virtual void | Reset (const ChFrameMoving<> &ref_frame) override
| Reset the PID controller.
virtual void | CalcTargetLocation () override
| Calculate the current target point location.
void | ReadFileJSON (const std::string &filename, Document &d)
ChVector3d | ReadVectorJSON (const Value &a)
ChQuaternion | ReadQuaternionJSON (const Value &a)
ChCoordsys | ReadCoordinateSystemJSON (const Value &a)
ChColor | ReadColorJSON (const Value &a)
ChContactMaterialData | ReadMaterialInfoJSON (const rapidjson::Value &mat)
std::shared_ptr< ChVehicleBushingData > | ReadBushingDataJSON (const rapidjson::Value &bd)
ChVehicleJoint::Type | ReadVehicleJointTypeJSON (const Value &a)
ChVehicleGeometry | ReadVehicleGeometryJSON (const rapidjson::Value &d)
| Load and return a vehicle geometry structure from the specified JSON value.
CH_VEHICLE_API ChTSDAGeometry | ReadTSDAGeometryJSON (const rapidjson::Value &d)
| Load and return a TSDA geometry structure from the specified JSON value.
std::shared_ptr< ChLinkTSDA::ForceFunctor > | ReadTSDAFunctorJSON (const rapidjson::Value &tsda, double &free_length)
std::shared_ptr< ChLinkRSDA::TorqueFunctor > | ReadRSDAFunctorJSON (const rapidjson::Value &rsda, double &free_angle)
std::shared_ptr< ChChassis > | ReadChassisJSON (const std::string &filename)
| Load and return a chassis subsystem from the specified JSON file.
std::shared_ptr< ChChassisRear > | ReadChassisRearJSON (const std::string &filename)
| Load and return a rear chassis subsystem from the specified JSON file.
std::shared_ptr< ChChassisConnector > | ReadChassisConnectorJSON (const std::string &filename)
| Load and return a chassis connector subsystem from the specified JSON file.
std::shared_ptr< ChEngine > | ReadEngineJSON (const std::string &filename)
| Load and return an engine subsystem from the specified JSON file.
std::shared_ptr< ChTransmission > | ReadTransmissionJSON (const std::string &filename)
| Load and return a transmission subsystem from the specified JSON file.
std::shared_ptr< ChSuspension > | ReadSuspensionJSON (const std::string &filename)
| Load and return a suspension subsystem from the specified JSON file.
std::shared_ptr< ChSteering > | ReadSteeringJSON (const std::string &filename)
| Load and return a steering subsystem from the specified JSON file.
std::shared_ptr< ChDrivelineWV > | ReadDrivelineWVJSON (const std::string &filename)
| Load and return a driveline subsystem from the specified JSON file.
std::shared_ptr< ChAntirollBar > | ReadAntirollbarJSON (const std::string &filename)
| Load and return a steering subsystem from the specified JSON file.
std::shared_ptr< ChWheel > | ReadWheelJSON (const std::string &filename)
| Load and return a steering subsystem from the specified JSON file.
std::shared_ptr< ChSubchassis > | ReadSubchassisJSON (const std::string &filename)
| Load and return a subchassis subsystem from the specified JSON file.
std::shared_ptr< ChBrake > | ReadBrakeJSON (const std::string &filename)
| Load and return a steering subsystem from the specified JSON file.
std::shared_ptr< ChTire > | ReadTireJSON (const std::string &filename)
| Load and return a tire from the specified JSON file.
std::shared_ptr< ChTrackAssembly > | ReadTrackAssemblyJSON (const std::string &filename)
| Load and return a track assembly from the specified JSON file.
std::shared_ptr< ChDrivelineTV > | ReadDrivelineTVJSON (const std::string &filename)
| Load and return a track driveline from the specified JSON file.
std::shared_ptr< ChTrackBrake > | ReadTrackBrakeJSON (const std::string &filename)
| Load and return a track brake from the specified JSON file.
std::shared_ptr< ChIdler > | ReadIdlerJSON (const std::string &filename)
| Load and return an idler from the specified JSON file.
std::shared_ptr< ChTrackSuspension > | ReadTrackSuspensionJSON (const std::string &filename, bool has_shock, bool lock_arm)
| Load and return a track suspension from the specified JSON file.
std::shared_ptr< ChTrackWheel > | ReadTrackWheelJSON (const std::string &filename)
| Load and return a road-wheel from the specified JSON file.
CH_VEHICLE_API void | ReadFileJSON (const std::string &filename, rapidjson::Document &d)
| Load and return a RapidJSON document from the specified file.
CH_VEHICLE_API ChVector3d | ReadVectorJSON (const rapidjson::Value &a)
| Load and return a ChVector3d from the specified JSON array.
CH_VEHICLE_API ChQuaternion | ReadQuaternionJSON (const rapidjson::Value &a)
| Load and return a ChQuaternion from the specified JSON array.
CH_VEHICLE_API ChCoordsys | ReadCoordinateSystemJSON (const rapidjson::Value &a)
| Load and return a coordinate system from the specific JSON value.
CH_VEHICLE_API ChColor | ReadColorJSON (const rapidjson::Value &a)
| Load and return a ChColor from the specified JSON array.
CH_VEHICLE_API ChVehicleJoint::Type | ReadVehicleJointTypeJSON (const rapidjson::Value &a)
| Load and return a vehicle joint type from the specific JSON value.
std::shared_ptr< ChBezierCurve > | StraightLinePath (const ChVector3d &start, const ChVector3d end, unsigned int num_intermediate=0)
| Straight line path between the two specified end points.
std::shared_ptr< ChBezierCurve > | CirclePath (const ChVector3d &start, double radius, double run, bool left_turn=true, int num_turns=1)
| Circular path with an initial straight-line run in the X direction.
std::shared_ptr< ChBezierCurve > | DoubleLaneChangePath (const ChVector3d &start, double ramp, double width, double length, double run, bool left_turn=true)
| Double lane change path with initial and final runs in the X direction.
double | VolumeCyl (double r_outer, double r_inner, double cyl_height)
double | InertiaRotCyl (double mass, double r_outer, double r_inner)
double | InertiaTipCyl (double mass, double r_outer, double r_inner, double cyl_height)
void | differentialSplitXWD (double torque, double max_bias, double speed_left, double speed_right, double &torque_left, double &torque_right)
ChVehicleGeometry | TransformVehicleGeometry (const ChVehicleGeometry &geom, int side)
ChTSDAGeometry | TransformTSDAGeometry (const ChTSDAGeometry &geom, int side)
ChGenericWheeledSuspension::BodyIdentifier | ReadBodyIdentifierJSON (const Value &a)
void | AttachNodeToShell (std::shared_ptr< ChMesh > m_mesh, std::shared_ptr< ChNodeFEAxyz > m_node)

## Variables
const double | EXTRA_HEIGHT = 1.0
const int | JoystickProcessFrequency = 16
const int | JoystickOutputFrequency = 32
const double | safety_factor = 1.001
const double | offset_factor = 3

## Enumeration Type Documentation

## ◆ CollisionType

enum class chrono::vehicle::CollisionType
| strong

Enumeration of collision model types.

Enumerator
NONE | no contact shapes
PRIMITIVES | contact model composed of primitives
HULLS | contact model composed of convex hulls
MESH | contact model composed of trimeshes

## Function Documentation

## ◆ CirclePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::CirclePath | ( | const ChVector3d & | start,
|  | double | radius,
|  | double | run,
|  | bool | left_turn = true,
|  | int | num_turns = 1 )

Circular path with an initial straight-line run in the X direction.

The generated curve loops around the circle for a specified number of times.

    Example: left circle path

                        __<__         Y
                      /       \       ^
                     /         \      |
                    |     o     |     +---> X
                     \         /
     ________>________\ __>__ /
            run

Parameters

  start | start point
  radius | circle radius
  run | length of initial straight line
  left_turn | left turn (true), right turn (false)
  num_turns | number of turns around circle

## ◆ DoubleLaneChangePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::DoubleLaneChangePath | ( | const ChVector3d & | start,
|  | double | ramp,
|  | double | width,
|  | double | length,
|  | double | run,
|  | bool | left_turn = true )

Double lane change path with initial and final runs in the X direction.

    Example: left double lane change path

                                             Y
                                             ^
                      ______>______          |
                     /             \         +---> X
                   /                 \       |
    _____>______ /                     \ ______>_______
        run       ramp   length    ramp      run

Parameters

  start | start point
  ramp | length of ramp sections
  width | lane separation
  length | distance in lane
  run | length of initial and final straight lines
  left_turn | left turn (true), right turn (false)

## ◆ ReadFileJSON()

CH_VEHICLE_API void chrono::vehicle::ReadFileJSON | ( | const std::string & | filename,
|  | rapidjson::Document & | d )

Load and return a RapidJSON document from the specified file.

A Null document is returned if the file cannot be opened.

## ◆ ReadVehicleGeometryJSON()

CH_VEHICLE_API ChVehicleGeometry chrono::vehicle::ReadVehicleGeometryJSON | ( | const rapidjson::Value & | d | ) |

Load and return a vehicle geometry structure from the specified JSON value.

Collision geometry and contact material information is set in the return ChVehicleGeometry object if the given JSON object has a member "Contact". Visualization geometry is loaded if the JSON object has a member "Visualization".

## ◆ StraightLinePath()

CH_VEHICLE_API std::shared_ptr< ChBezierCurve > chrono::vehicle::StraightLinePath | ( | const ChVector3d & | start,
|  | const ChVector3d | end,
|  | unsigned int | num_intermediate = 0 )

Straight line path between the two specified end points.

Intermediate points can be optionally included.

Parameters

  start | start point
  end | end point
  num_intermediate | number of intermediate points