Project Chrono: chrono::vehicle::Balancer Class Reference

Public Member Functions | List of all members
chrono::vehicle::Balancer Class Reference
VEHICLE module » Wheeled vehicles » Subchassis subsystem

## Description

Balancer subchassis system constructed with data from file.

`#include <Balancer.h>`

Inheritance diagram for chrono::vehicle::Balancer:
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Collaboration diagram for chrono::vehicle::Balancer:
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## Public Member Functions
| Balancer (const std::string &filename)
| Balancer (const rapidjson::Document &d)
virtual double | GetBalancerBeamMass () const override
| Get the balancer mass.
virtual const ChVector3d & | GetBalancerBeamInertia () const override
| Get the inertia tensor of the chassis body.
virtual const double | GetBalancerMaxPitch () const override
| Get the rear balancer min/max pitch.
virtual const ChVector3d & | GetBalancerBeamDimensions () const override
| Get balancer dimensions (for visualization).
virtual std::shared_ptr< ChVehicleBushingData > | GetBushingData () const override
| Return stiffness and damping data for the balancer bushing.
Public Member Functions inherited from chrono::vehicle::ChBalancer
virtual std::string | GetTemplateName () const override
| Get the name of the vehicle subsystem template.
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location) override
| Initialize this subchassis subsystem.
virtual void | AddVisualizationAssets (VisualizationType vis) override
| Add visualization assets for the balancer subsystem.
virtual void | RemoveVisualizationAssets () override
| Remove visualization assets for the balancer subsystem.
Public Member Functions inherited from chrono::vehicle::ChSubchassis
const ChVector3d & | GetLocation () const
| Get the location of the subchassis relative to the chassis reference frame.
std::shared_ptr< ChBody > | GetBeam (VehicleSide side) const
| Get a handle to the beam body on the specified side.
Public Member Functions inherited from chrono::vehicle::ChPart
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
Static Public Member Functions inherited from chrono::vehicle::ChPart
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.
Protected Types inherited from chrono::vehicle::ChBalancer
enum | PointId { BEAM , REVOLUTE , NUM_POINTS }
| Identifiers for the various hardpoints. More...
Protected Member Functions inherited from chrono::vehicle::ChBalancer
| ChBalancer (const std::string &name)
virtual void | InitializeInertiaProperties () override
| Initialize subsystem inertia properties.
virtual void | UpdateInertiaProperties () override
| Update subsystem inertia properties.
Protected Member Functions inherited from chrono::vehicle::ChSubchassis
| ChSubchassis (const std::string &name)
| Construct a subchassis subsystem with given name.
Protected Member Functions inherited from chrono::vehicle::ChPart
| 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.
Static Protected Member Functions inherited from chrono::vehicle::ChPart
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).
Protected Attributes inherited from chrono::vehicle::ChBalancer
std::shared_ptr< ChVehicleJoint > | m_balancer_joint [2]
| balancer pivot joints
Protected Attributes inherited from chrono::vehicle::ChSubchassis
ChVector3d | m_rel_loc
| location relative to chassis
std::shared_ptr< ChBody > | m_beam [2]
| handles to beam bodies
Protected Attributes inherited from chrono::vehicle::ChPart
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

## ◆ GetBalancerBeamDimensions()

virtual const ChVector3d & chrono::vehicle::Balancer::GetBalancerBeamDimensions | ( |  | ) | const
| inlineoverridevirtual

Get balancer dimensions (for visualization).

Implements chrono::vehicle::ChBalancer.

## ◆ GetBalancerBeamInertia()

virtual const ChVector3d & chrono::vehicle::Balancer::GetBalancerBeamInertia | ( |  | ) | const
| inlineoverridevirtual

Get the inertia tensor of the chassis body.

Implements chrono::vehicle::ChBalancer.

## ◆ GetBalancerBeamMass()

virtual double chrono::vehicle::Balancer::GetBalancerBeamMass | ( |  | ) | const
| inlineoverridevirtual

Get the balancer mass.

Implements chrono::vehicle::ChBalancer.

## ◆ GetBalancerMaxPitch()

virtual const double chrono::vehicle::Balancer::GetBalancerMaxPitch | ( |  | ) | const
| inlineoverridevirtual

Get the rear balancer min/max pitch.

Used only if using a kinematic joint.

Implements chrono::vehicle::ChBalancer.

## ◆ GetBushingData()

virtual std::shared_ptr< ChVehicleBushingData > chrono::vehicle::Balancer::GetBushingData | ( |  | ) | const
| inlineoverridevirtual

Return stiffness and damping data for the balancer bushing.

Returning nullptr (default) results in using a kinematic revolute joint.

Reimplemented from chrono::vehicle::ChBalancer.

The documentation for this class was generated from the following files:

- D:/W/B/src/chrono-9.0.1/src/chrono_vehicle/wheeled_vehicle/subchassis/Balancer.h
- D:/W/B/src/chrono-9.0.1/src/chrono_vehicle/wheeled_vehicle/subchassis/Balancer.cpp