Project Chrono: chrono::vehicle::jeep::Cherokee_RigidTire Class Reference

Public Member Functions | List of all members
chrono::vehicle::jeep::Cherokee_RigidTire Class Reference
Models » Vehicle models » Jeep Cherokee vehicle

## Description

Rigid tire model for the Jeep Cherokee vehicle.

`#include <Cherokee_RigidTire.h>`

Inheritance diagram for chrono::vehicle::jeep::Cherokee_RigidTire:
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Collaboration diagram for chrono::vehicle::jeep::Cherokee_RigidTire:
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## Public Member Functions
| Cherokee_RigidTire (const std::string &name, bool use_mesh=false)
virtual double | GetRadius () const override
| Get the tire radius.
virtual double | GetWidth () const override
| Get the tire width.
virtual double | GetTireMass () const override
| Return the tire mass.
virtual ChVector3d | GetTireInertia () const override
| Return the tire moments of inertia (in the tire centroidal frame).
Public Member Functions inherited from chrono::vehicle::ChRigidTire
| ChRigidTire (const std::string &name)
virtual std::string | GetTemplateName () const override
| Get the name of the vehicle subsystem template.
void | SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0)
| Set Wavefront OBJ file for contact mesh.
bool | UseContactMesh () const
| Check whether or not this tire uses a contact mesh.
virtual TerrainForce | ReportTireForce (ChTerrain *terrain) const override
| Report the tire force and moment.
virtual TerrainForce | ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
| Get the tire force and moment expressed in the tire frame.
std::shared_ptr< ChContactMaterial > | GetContactMaterial () const
| Get the tire contact material.
std::shared_ptr< ChTriangleMeshConnected > | GetContactMesh () const
| Get the contact mesh.
void | GetMeshVertexStates (std::vector< ChVector3d > &pos, std::vector< ChVector3d > &vel) const
| Get the current state of the collision mesh.
Public Member Functions inherited from chrono::vehicle::ChTire
void | SetStepsize (double val)
| Set the value of the integration step size for the underlying dynamics (if applicable).
double | GetStepsize () const
| Get the current value of the integration step size.
void | SetCollisionType (CollisionType collision_type)
| Set the collision type for tire-terrain interaction.
void | SetPressure (double pressure)
| Set the internal tire pressure [Pa].
double | GetPressure () const
| Get the internal tire pressure [Pa].
double | GetSlipAngle () const
| Return the tire slip angle calculated based on the current state of the associated wheel body.
double | GetLongitudinalSlip () const
| Return the tire longitudinal slip calculated based on the current state of the associated wheel body.
double | GetCamberAngle () const
| Return the tire camber angle calculated based on the current state of the associated wheel body.
virtual double | GetDeflection () const
| Report the tire deflection.
const std::string & | GetMeshFilename () const
| Get the name of the Wavefront file with tire visualization mesh.
virtual void | Advance (double step)
| Advance the state of this tire by the specified time step.
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.
virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const
| Export this subsystem's component list to the specified JSON object.
virtual void | Output (ChVehicleOutput &database) const
| Output data for this subsystem's component list to the specified database.

## Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum class | CollisionType { SINGLE_POINT , FOUR_POINTS , ENVELOPE }
Static Public Member Functions inherited from chrono::vehicle::ChTire
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.
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 Member Functions inherited from chrono::vehicle::ChRigidTire
virtual void | InitializeInertiaProperties () override final
| Initialize subsystem inertia properties.
virtual void | UpdateInertiaProperties () override final
| Update subsystem inertia properties.
virtual double | GetAddedMass () const override final
| Get the mass added to the associated spindle body.
virtual ChVector3d | GetAddedInertia () const override final
| Get the inertia added to the associated spindle body.
virtual TerrainForce | GetTireForce () const override final
| Get the tire force and moment.
virtual void | Initialize (std::shared_ptr< ChWheel > wheel) override
| Initialize this tire by associating it to the specified wheel.
virtual void | Synchronize (double time, const ChTerrain &terrain) override
| Update the state of this tire system at the current time.
Protected Member Functions inherited from chrono::vehicle::ChTire
| ChTire (const std::string &name)
| Construct a tire subsystem with given name.
void | CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
| Calculate kinematics quantities based on the given state of the associated wheel body.
double | GetOffset () const
| Get offset from spindle center.
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).
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.
virtual void | Create (const rapidjson::Document &d)
| Create a vehicle subsystem from JSON data.
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::ChTire
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.
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.
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.
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.
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.
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::ChRigidTire
std::shared_ptr< ChContactMaterial > | m_material
| contact material;
bool | m_use_contact_mesh
| flag indicating use of a contact mesh
std::string | m_contact_meshFile
| name of the OBJ file for contact mesh
double | m_sweep_sphere_radius
| radius of sweeping sphere for mesh contact
std::shared_ptr< ChTriangleMeshConnected > | m_trimesh
| contact mesh
std::shared_ptr< ChVisualShape > | m_cyl_shape
| visualization cylinder asset
Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel > | m_wheel
| associated wheel subsystem
double | m_stepsize
| tire integration step size (if applicable)
double | m_pressure
| internal tire pressure
CollisionType | m_collision_type
| method used for tire-terrain collision
std::string | m_vis_mesh_file
| name of OBJ file for visualization of this tire (may be empty)
double | m_slip_angle
double | m_longitudinal_slip
double | m_camber_angle
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

## ◆ GetRadius()

virtual double chrono::vehicle::jeep::Cherokee_RigidTire::GetRadius | ( |  | ) | const
| inlineoverridevirtual

Get the tire radius.

Implements chrono::vehicle::ChTire.

## ◆ GetTireInertia()

virtual ChVector3d chrono::vehicle::jeep::Cherokee_RigidTire::GetTireInertia | ( |  | ) | const
| inlineoverridevirtual

Return the tire moments of inertia (in the tire centroidal frame).

Implements chrono::vehicle::ChTire.

## ◆ GetTireMass()

virtual double chrono::vehicle::jeep::Cherokee_RigidTire::GetTireMass | ( |  | ) | const
| inlineoverridevirtual

Return the tire mass.

Implements chrono::vehicle::ChTire.

## ◆ GetWidth()

virtual double chrono::vehicle::jeep::Cherokee_RigidTire::GetWidth | ( |  | ) | const
| inlineoverridevirtual

Get the tire width.

Implements chrono::vehicle::ChTire.

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

- D:/W/B/src/chrono-9.0.1/src/chrono_models/vehicle/jeep/Cherokee_RigidTire.h
- D:/W/B/src/chrono-9.0.1/src/chrono_models/vehicle/jeep/Cherokee_RigidTire.cpp