Description

Base class for a drawbar-pull rig mechanism.

Derived classes implement different ways for measuring DBP.

#include <ChVehicleCosimDBPRig.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimDBPRig:

Public Types

enum class  Type { IMPOSED_SLIP , IMPOSED_ANG_VEL }
 Type of DBP rig. More...
 

Public Member Functions

void SetDBPFilterWindow (double window)
 Set window (in seconds) for the running average filter for drawbar pull reporting (default: 0.1 s).
 
void SetSlipFilterWindow (double window)
 Set window (in seconds) for the running average filter for slip reporting (default: 0.1 s).
 
virtual Type GetType () const =0
 Get rig type.
 
virtual double GetSlip () const =0
 Return current value of longitudinal slip.
 
virtual double GetLinVel () const =0
 Return current rig linear speed.
 
virtual double GetAngVel () const =0
 Return current wheel angular speed.
 
virtual double GetDBP () const =0
 Return current raw drawbar-pull value.
 
double GetFilteredDBP () const
 Return current filtered drawbar-pull value.
 
double GetFilteredSlip () const
 Return current filtered slip value.
 

Protected Member Functions

virtual void InitializeRig (std::shared_ptr< ChBody > chassis, double wheel_radius)=0
 Initialize the rig mechanism, by attaching it to the specified chassis body.
 
virtual std::shared_ptr< ChFunctionGetMotorFunction () const =0
 Return a function to specify spindle angular speed.
 

Protected Attributes

bool m_verbose
 verbose messages during simulation?
 
double m_delay_time
 initialization (ramping up) time
 

Friends

class ChVehicleCosimWheeledMBSNode
 
class ChVehicleCosimTrackedMBSNode
 

Member Enumeration Documentation

◆ Type

Type of DBP rig.

Enumerator
IMPOSED_SLIP 

rig of type ChVehicleCosimDBPRigImposedSlip

IMPOSED_ANG_VEL 

rig of type ChVehicleCosimDBPRigImposedAngVel

Member Function Documentation

◆ GetAngVel()

virtual double chrono::vehicle::ChVehicleCosimDBPRig::GetAngVel ( ) const
pure virtual

◆ GetDBP()

virtual double chrono::vehicle::ChVehicleCosimDBPRig::GetDBP ( ) const
pure virtual

◆ GetLinVel()

virtual double chrono::vehicle::ChVehicleCosimDBPRig::GetLinVel ( ) const
pure virtual

◆ GetSlip()

virtual double chrono::vehicle::ChVehicleCosimDBPRig::GetSlip ( ) const
pure virtual

Return current value of longitudinal slip.

Implemented in chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel, and chrono::vehicle::ChVehicleCosimDBPRigImposedSlip.

◆ GetType()

virtual Type chrono::vehicle::ChVehicleCosimDBPRig::GetType ( ) const
pure virtual

◆ InitializeRig()

virtual void chrono::vehicle::ChVehicleCosimDBPRig::InitializeRig ( std::shared_ptr< ChBody > chassis,
double wheel_radius )
protectedpure virtual

Initialize the rig mechanism, by attaching it to the specified chassis body.

Parameters
chassisassociated chassis body
wheel_radiusradius (tire or sprocket)

The documentation for this class was generated from the following files:
  • C:/M/B/src/chrono-9.0.1/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.h
  • C:/M/B/src/chrono-9.0.1/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp