Vamos_Body::Suspension Class Reference

#include <Suspension.h>

Inheritance diagram for Vamos_Body::Suspension:

[legend]Collaboration diagram for Vamos_Body::Suspension:

[legend]List of all members.

Public Member Functions
	Suspension (const Vamos_Geometry::Three_Vector &position, const Vamos_Geometry::Three_Vector &center_of_translation, Vamos_Geometry::Side side_of_car, double spring_constant, double bounce, double rebound, double travel, double max_compression_velocity)
	~Suspension ()
void	steer (double degree_angle)
double	compression_velocity ()
void	set_compression_velocity (double newcv)
void	set_displacement (double newdisp)
void	camber (double degree_angle)
void	caster (double degree_angle)
void	toe (double degree_angle)
Hinge *	hinge () const
Vamos_Geometry::Three_Vector	force () const
Vamos_Geometry::Three_Vector	torque () const
void	input (const Vamos_Geometry::Three_Vector &wheel_force, const Vamos_Geometry::Three_Vector &normal)
void	torque (double wheel_torque)
void	find_forces ()
void	propagate (double time)
void	rewind ()
void	anti_roll (Suspension *other, double spring_constant)
void	displace (double distance)
double	displacement () const
bool	bottomed_out () const
double	camber_function (double displacement) const
double	current_camber (double normal_y) const
void	reset ()
void	set_model (std::string file_name, double scale, const Vamos_Geometry::Three_Vector &translation, const Vamos_Geometry::Three_Vector &rotation)
void	draw ()
Private Attributes
Hinge *	mp_hinge
Vamos_Geometry::Three_Vector	m_radius
Vamos_Geometry::Three_Vector	m_tangent
double	m_radius_magnitude
double	m_angle
double	m_initial_z
double	m_spring_constant
double	m_bounce
double	m_rebound
double	m_travel
double	m_displacement
double	m_time_step
double	m_compression_velocity
double	m_max_compression_velocity
bool	m_bottomed_out
double	m_anti_roll_k
Suspension *	m_anti_roll_suspension
Vamos_Geometry::Three_Vector	m_wheel_force
double	m_steer_angle
double	m_camber
double	m_caster
double	m_toe
Vamos_Geometry::Side	m_side
Vamos_Geometry::Three_Matrix	m_static_orientation
Vamos_Geometry::Three_Vector	m_normal
Static Private Attributes
static const Vamos_Geometry::Three_Vector	STEER_AXIS = Three_Vector (0.0, 0.0, 1.0)

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Detailed Description

Definition at line 47 of file Suspension.h.

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Constructor & Destructor Documentation

Vamos_Body::Suspension::Suspension (  const Vamos_Geometry::Three_Vector &  position, const Vamos_Geometry::Three_Vector &  center_of_translation, Vamos_Geometry::Side  side_of_car, double  spring_constant, double  bounce, double  rebound, double  travel, double  max_compression_velocity )

Definition at line 79 of file Suspension.cc. References Vamos_Geometry::Three_Matrix::identity(), Vamos_Body::Frame::m_position, m_radius, m_radius_magnitude, m_static_orientation, and Vamos_Geometry::Three_Vector::magnitude().

Vamos_Body::Suspension::~Suspension (   )

Definition at line 117 of file Suspension.cc.

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Member Function Documentation

void Vamos_Body::Suspension::anti_roll (  Suspension *  other, double  spring_constant )

Definition at line 131 of file Suspension.cc. References m_anti_roll_k, and m_anti_roll_suspension.

bool Vamos_Body::Suspension::bottomed_out (   )  const [inline]

Definition at line 191 of file Suspension.h. References m_bottomed_out. Referenced by Vamos_Body::Wheel::contact().

void Vamos_Body::Suspension::camber (  double  degree_angle  )

Definition at line 276 of file Suspension.cc. References Vamos_Geometry::deg_to_rad(), Vamos_Geometry::LEFT, m_camber, m_side, m_static_orientation, and Vamos_Geometry::Three_Matrix::rotate().

double Vamos_Body::Suspension::camber_function (  double  displacement  )  const

Definition at line 315 of file Suspension.cc.

void Vamos_Body::Suspension::caster (  double  degree_angle  )

Definition at line 289 of file Suspension.cc. References Vamos_Geometry::deg_to_rad(), m_caster, m_static_orientation, and Vamos_Geometry::Three_Matrix::rotate().

double Vamos_Body::Suspension::compression_velocity (   )  [inline]

Definition at line 144 of file Suspension.h. References m_compression_velocity.

double Vamos_Body::Suspension::current_camber (  double  normal_y  )  const

Definition at line 321 of file Suspension.cc. References Vamos_Geometry::clip(). Referenced by Vamos_Body::Wheel::find_forces().

void Vamos_Body::Suspension::displace (  double  distance  )

Definition at line 143 of file Suspension.cc. References m_angle, m_bottomed_out, m_compression_velocity, m_displacement, m_initial_z, Vamos_Body::Frame::m_position, m_radius, m_radius_magnitude, m_tangent, m_time_step, m_travel, mp_hinge, Vamos_Geometry::pi, Vamos_Body::Frame::position(), and Vamos_Geometry::Three_Vector::unit().

double Vamos_Body::Suspension::displacement (   )  const [inline]

Definition at line 187 of file Suspension.h. References m_displacement.

void Vamos_Body::Suspension::draw (   )

Definition at line 358 of file Suspension.cc. Referenced by Vamos_Body::Wheel::draw().

void Vamos_Body::Suspension::find_forces (   )  [virtual]

Reimplemented from Vamos_Body::Exerter. Definition at line 203 of file Suspension.cc. References m_anti_roll_k, m_anti_roll_suspension, m_bottomed_out, m_bounce, m_compression_velocity, m_displacement, Vamos_Body::Exerter::m_force, m_max_compression_velocity, m_normal, m_rebound, m_spring_constant, m_travel, Vamos_Body::Frame::rotate_in(), and Vamos_Geometry::Three_Vector::zero().

Vamos_Geometry::Three_Vector Vamos_Body::Suspension::force (   )  const [inline, virtual]

Reimplemented from Vamos_Body::Particle. Definition at line 159 of file Suspension.h. References Vamos_Body::Particle::force(). Referenced by Vamos_Body::Wheel::find_forces().

Hinge* Vamos_Body::Suspension::hinge (   )  const [inline]

Definition at line 157 of file Suspension.h. References mp_hinge.

void Vamos_Body::Suspension::input (  const Vamos_Geometry::Three_Vector &  wheel_force, const Vamos_Geometry::Three_Vector &  normal )

Definition at line 188 of file Suspension.cc. References m_normal, m_wheel_force, and Vamos_Body::Frame::rotate_out().

void Vamos_Body::Suspension::propagate (  double  time  )  [virtual]

Reimplemented from Vamos_Body::Exerter. Definition at line 252 of file Suspension.cc. References m_static_orientation, m_steer_angle, m_time_step, Vamos_Body::Frame::orient(), Vamos_Body::Frame::rotate(), and STEER_AXIS.

void Vamos_Body::Suspension::reset (   )  [virtual]

Reimplemented from Vamos_Body::Exerter. Definition at line 328 of file Suspension.cc. References m_displacement, Vamos_Body::Exerter::m_force, and Vamos_Geometry::Three_Vector::zero(). Referenced by Vamos_Body::Wheel::find_forces().

void Vamos_Body::Suspension::rewind (   )  [virtual]

Reimplemented from Vamos_Body::Exerter. Definition at line 263 of file Suspension.cc.

void Vamos_Body::Suspension::set_compression_velocity (  double  newcv  )  [inline]

Definition at line 145 of file Suspension.h. References m_compression_velocity.

void Vamos_Body::Suspension::set_displacement (  double  newdisp  )  [inline]

Definition at line 146 of file Suspension.h. References m_displacement.

void Vamos_Body::Suspension::set_model (  std::string  file_name, double  scale, const Vamos_Geometry::Three_Vector &  translation, const Vamos_Geometry::Three_Vector &  rotation )

Definition at line 336 of file Suspension.cc. References Vamos_Geometry::LEFT, m_side, Vamos_Body::Frame::orientation(), and Vamos_Body::Frame::position().

void Vamos_Body::Suspension::steer (  double  degree_angle  )

Definition at line 269 of file Suspension.cc. References Vamos_Geometry::deg_to_rad(), and m_steer_angle. Referenced by Vamos_Body::Wheel::steer().

void Vamos_Body::Suspension::toe (  double  degree_angle  )

Definition at line 301 of file Suspension.cc. References Vamos_Geometry::deg_to_rad(), Vamos_Geometry::LEFT, m_side, m_static_orientation, m_toe, Vamos_Geometry::Three_Matrix::rotate(), and STEER_AXIS.

void Vamos_Body::Suspension::torque (  double  wheel_torque  )

Definition at line 196 of file Suspension.cc. References Vamos_Body::Hinge::input(), m_radius, and mp_hinge.

Vamos_Geometry::Three_Vector Vamos_Body::Suspension::torque (   )  const [inline, virtual]

Reimplemented from Vamos_Body::Particle. Definition at line 160 of file Suspension.h. References Vamos_Body::Particle::torque().

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Member Data Documentation

double Vamos_Body::Suspension::m_angle [private]

Definition at line 58 of file Suspension.h. Referenced by displace().

double Vamos_Body::Suspension::m_anti_roll_k [private]

Definition at line 94 of file Suspension.h. Referenced by anti_roll(), and find_forces().

Suspension* Vamos_Body::Suspension::m_anti_roll_suspension [private]

Definition at line 98 of file Suspension.h. Referenced by anti_roll(), and find_forces().

bool Vamos_Body::Suspension::m_bottomed_out [private]

Definition at line 90 of file Suspension.h. Referenced by bottomed_out(), displace(), and find_forces().

double Vamos_Body::Suspension::m_bounce [private]

Definition at line 65 of file Suspension.h. Referenced by find_forces().

double Vamos_Body::Suspension::m_camber [private]

Definition at line 109 of file Suspension.h. Referenced by camber().

double Vamos_Body::Suspension::m_caster [private]

Definition at line 112 of file Suspension.h. Referenced by caster().

double Vamos_Body::Suspension::m_compression_velocity [private]

Definition at line 82 of file Suspension.h. Referenced by compression_velocity(), displace(), find_forces(), and set_compression_velocity().

double Vamos_Body::Suspension::m_displacement [private]

Definition at line 75 of file Suspension.h. Referenced by displace(), displacement(), find_forces(), reset(), and set_displacement().

double Vamos_Body::Suspension::m_initial_z [private]

Definition at line 59 of file Suspension.h. Referenced by displace().

double Vamos_Body::Suspension::m_max_compression_velocity [private]

Definition at line 86 of file Suspension.h. Referenced by find_forces().

Vamos_Geometry::Three_Vector Vamos_Body::Suspension::m_normal [private]

Definition at line 126 of file Suspension.h. Referenced by find_forces(), and input().

Vamos_Geometry::Three_Vector Vamos_Body::Suspension::m_radius [private]

Definition at line 55 of file Suspension.h. Referenced by displace(), Suspension(), and torque().

double Vamos_Body::Suspension::m_radius_magnitude [private]

Definition at line 57 of file Suspension.h. Referenced by displace(), and Suspension().

double Vamos_Body::Suspension::m_rebound [private]

Definition at line 68 of file Suspension.h. Referenced by find_forces().

Vamos_Geometry::Side Vamos_Body::Suspension::m_side [private]

Definition at line 120 of file Suspension.h. Referenced by camber(), set_model(), and toe().

double Vamos_Body::Suspension::m_spring_constant [private]

Definition at line 62 of file Suspension.h. Referenced by find_forces().

Vamos_Geometry::Three_Matrix Vamos_Body::Suspension::m_static_orientation [private]

Definition at line 124 of file Suspension.h. Referenced by camber(), caster(), propagate(), Suspension(), and toe().

double Vamos_Body::Suspension::m_steer_angle [private]

Definition at line 103 of file Suspension.h. Referenced by propagate(), and steer().

Vamos_Geometry::Three_Vector Vamos_Body::Suspension::m_tangent [private]

Definition at line 56 of file Suspension.h. Referenced by displace().

double Vamos_Body::Suspension::m_time_step [private]

Definition at line 79 of file Suspension.h. Referenced by displace(), and propagate().

double Vamos_Body::Suspension::m_toe [private]

Definition at line 115 of file Suspension.h. Referenced by toe().

double Vamos_Body::Suspension::m_travel [private]

Definition at line 71 of file Suspension.h. Referenced by displace(), and find_forces().

Vamos_Geometry::Three_Vector Vamos_Body::Suspension::m_wheel_force [private]

Definition at line 100 of file Suspension.h. Referenced by input().

Hinge* Vamos_Body::Suspension::mp_hinge [private]

Definition at line 54 of file Suspension.h. Referenced by displace(), hinge(), and torque().

const Three_Vector Vamos_Body::Suspension::STEER_AXIS = Three_Vector (0.0, 0.0, 1.0) [static, private]

Definition at line 52 of file Suspension.h. Referenced by propagate(), and toe().

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

• include/vamos/body/Suspension.h
• src/vamos/body/Suspension.cc

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