1 // ============================================================================= 2 // PROJECT CHRONO - http://projectchrono.org 3 // 4 // Copyright (c) 2014 projectchrono.org 5 // All right reserved. 6 // 7 // Use of this source code is governed by a BSD-style license that can be found 8 // in the LICENSE file at the top level of the distribution and at 9 // http://projectchrono.org/license-chrono.txt. 10 // 11 // ============================================================================= 12 // Authors: Radu Serban 13 // ============================================================================= 14 // 15 // Wrapper classes for modeling an entire LMTV vehicle assembly 16 // (including the vehicle itself, the powertrain, and the tires). 17 // 18 // ============================================================================= 19 20 #ifndef LMTV_H 21 #define LMTV_H 22 23 #include <array> 24 #include <string> 25 26 #include "chrono_vehicle/wheeled_vehicle/tire/ChPacejkaTire.h" 27 28 #include "chrono_models/ChApiModels.h" 29 #include "chrono_models/vehicle/mtv/LMTV_Vehicle.h" 30 #include "chrono_models/vehicle/mtv/FMTV_SimpleCVTPowertrain.h" 31 #include "chrono_models/vehicle/mtv/FMTV_SimpleMapPowertrain.h" 32 #include "chrono_models/vehicle/mtv/FMTV_SimplePowertrain.h" 33 #include "chrono_models/vehicle/mtv/FMTV_Powertrain.h" 34 #include "chrono_models/vehicle/mtv/FMTV_RigidTire.h" 35 #include "chrono_models/vehicle/mtv/FMTV_TMeasyTire.h" 36 37 namespace chrono { 38 namespace vehicle { 39 namespace fmtv { 40 41 /// @addtogroup vehicle_models_fmtv 42 /// @{ 43 44 /// Definition of the LMTV assembly. 45 /// This class encapsulates a concrete wheeled vehicle model with parameters corresponding to 46 /// an LMTV vehicle, the powertrain model, and the 4 tires. 47 class CH_MODELS_API LMTV { 48 public: 49 LMTV(); 50 LMTV(ChSystem* system); 51 52 ~LMTV(); 53 SetContactMethod(ChContactMethod val)54 void SetContactMethod(ChContactMethod val) { m_contactMethod = val; } 55 SetChassisFixed(bool val)56 void SetChassisFixed(bool val) { m_fixed = val; } SetChassisCollisionType(CollisionType val)57 void SetChassisCollisionType(CollisionType val) { m_chassisCollisionType = val; } 58 SetBrakeType(BrakeType brake_type)59 void SetBrakeType(BrakeType brake_type) { m_brake_type = brake_type; } SetTireType(TireModelType val)60 void SetTireType(TireModelType val) { m_tireType = val; } SetPowertrainType(PowertrainModelType val)61 void SetPowertrainType(PowertrainModelType val) { m_powertrainType = val; } 62 63 // void setSteeringType(SteeringTypeWV val) { m_steeringType = val; } 64 SetInitPosition(const ChCoordsys<> & pos)65 void SetInitPosition(const ChCoordsys<>& pos) { m_initPos = pos; } SetInitFwdVel(double fwdVel)66 void SetInitFwdVel(double fwdVel) { m_initFwdVel = fwdVel; } SetInitWheelAngVel(const std::vector<double> & omega)67 void SetInitWheelAngVel(const std::vector<double>& omega) { m_initOmega = omega; } 68 SetTireStepSize(double step_size)69 void SetTireStepSize(double step_size) { m_tire_step_size = step_size; } 70 EnableBrakeLocking(bool lock)71 void EnableBrakeLocking(bool lock) { m_brake_locking = lock; } 72 GetSystem()73 ChSystem* GetSystem() const { return m_vehicle->GetSystem(); } GetVehicle()74 ChWheeledVehicle& GetVehicle() const { return *m_vehicle; } GetChassis()75 std::shared_ptr<ChChassis> GetChassis() const { return m_vehicle->GetChassis(); } GetChassisBody()76 std::shared_ptr<ChBodyAuxRef> GetChassisBody() const { return m_vehicle->GetChassisBody(); } GetPowertrain()77 std::shared_ptr<ChPowertrain> GetPowertrain() const { return m_vehicle->GetPowertrain(); } 78 double GetTotalMass() const; 79 80 void Initialize(); 81 LockAxleDifferential(int axle,bool lock)82 void LockAxleDifferential(int axle, bool lock) { m_vehicle->LockAxleDifferential(axle, lock); } LockCentralDifferential(int which,bool lock)83 void LockCentralDifferential(int which, bool lock) { m_vehicle->LockCentralDifferential(which, lock); } 84 85 void SetAerodynamicDrag(double Cd, double area, double air_density); 86 SetChassisVisualizationType(VisualizationType vis)87 void SetChassisVisualizationType(VisualizationType vis) { m_vehicle->SetChassisVisualizationType(vis); } SetChassisRearVisualizationType(VisualizationType vis)88 void SetChassisRearVisualizationType(VisualizationType vis) { m_vehicle->SetChassisRearVisualizationType(vis); } SetSuspensionVisualizationType(VisualizationType vis)89 void SetSuspensionVisualizationType(VisualizationType vis) { m_vehicle->SetSuspensionVisualizationType(vis); } SetSteeringVisualizationType(VisualizationType vis)90 void SetSteeringVisualizationType(VisualizationType vis) { m_vehicle->SetSteeringVisualizationType(vis); } SetWheelVisualizationType(VisualizationType vis)91 void SetWheelVisualizationType(VisualizationType vis) { m_vehicle->SetWheelVisualizationType(vis); } 92 void SetTireVisualizationType(VisualizationType vis); 93 94 void Synchronize(double time, const ChDriver::Inputs& driver_inputs, const ChTerrain& terrain); 95 void Advance(double step); 96 LogHardpointLocations()97 void LogHardpointLocations() { m_vehicle->LogHardpointLocations(); } DebugLog(int what)98 void DebugLog(int what) { m_vehicle->DebugLog(what); } 99 100 protected: 101 ChContactMethod m_contactMethod; 102 CollisionType m_chassisCollisionType; 103 bool m_fixed; 104 bool m_brake_locking; 105 106 BrakeType m_brake_type; 107 TireModelType m_tireType; 108 PowertrainModelType m_powertrainType; 109 110 double m_tire_step_size; 111 112 SteeringTypeWV m_steeringType; 113 114 ChCoordsys<> m_initPos; 115 double m_initFwdVel; 116 std::vector<double> m_initOmega; 117 118 bool m_apply_drag; 119 double m_Cd; 120 double m_area; 121 double m_air_density; 122 123 ChSystem* m_system; 124 LMTV_Vehicle* m_vehicle; 125 126 double m_tire_mass; 127 }; 128 129 /// @} vehicle_models_fmtv 130 131 } // namespace fmtv 132 } // end namespace vehicle 133 } // end namespace chrono 134 135 #endif 136