Vamos_Body::Tire Class Reference

#include <Tire.h>

Inheritance diagram for Vamos_Body::Tire:

[legend]Collaboration diagram for Vamos_Body::Tire:


Public Member Functions
	Tire (double radius, double rolling_resistance_1, double rolling_resistance_2, const Tire_Friction &friction, double inertia, double tread)
void	input (const Vamos_Geometry::Three_Vector &velocity, double normal_ang_velocity, const Vamos_Geometry::Three_Vector &normal_force, double camber, double torque, bool is_locked, Vamos_Geometry::Material_Handle material)
void	find_forces ()
void	propagate (double time)
void	rewind ()
double	radius () const
double	rotational_speed () const
void	set_rotational_speed (double newrs)
double	speed () const
double	slide () const
Vamos_Geometry::Three_Vector	contact_position () const
void	reset ()
double	GetFeedback ()
void	SetSurfaceParams (double f1, double f2, double rr, double rd)
Private Member Functions
void	FindSigmaHatAlphaHat (double load, double &sh, double &ah)
void	orient_frame_with_unit_vector (const Vamos_Geometry::Three_Vector &normal_unit_vector)
Private Attributes
double	sigma_hat [HAT_ITERATIONS]
double	alpha_hat [HAT_ITERATIONS]
double	m_radius
double	m_rolling_resistance_1
double	m_rolling_resistance_2
Tire_Friction	m_tire_friction
double	m_inertia
double	m_rotational_speed
double	m_last_rotational_speed
double	m_slide
Vamos_Geometry::Three_Vector	m_velocity
double	m_normal_ang_velocity
double	m_normal_force
double	m_camber
double	m_applied_torque
bool	m_is_locked
Vamos_Geometry::Material_Handle	m_material
double	m_feedback
double	m_tread
double	m_friction1
double	m_friction2
double	m_rolling_resistance_factor
double	m_rolling_drag

Detailed Description

Definition at line 79 of file Tire.h.

Constructor & Destructor Documentation

Vamos_Body::Tire::Tire ( double radius,

double rolling_resistance_1,

double rolling_resistance_2,

const Tire_Friction & friction,

double inertia,

double tread

)

Definition at line 401 of file Tire.cc.

Member Function Documentation

Three_Vector Vamos_Body::Tire::contact_position ( ) const [virtual]

Reimplemented from Vamos_Body::Particle.
Definition at line 695 of file Tire.cc.
References m_radius.
Referenced by Vamos_Body::Wheel::contact_position(), and Vamos_Body::Wheel::force_position().

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

Reimplemented from Vamos_Body::Exerter.
Definition at line 463 of file Tire.cc.
References alpha_hat, HAT_ITERATIONS, HAT_LOAD, m_applied_torque, m_camber, m_feedback, Vamos_Body::Exerter::m_force, m_friction1, m_friction2, m_is_locked, m_material, m_normal_force, m_radius, m_rolling_drag, m_rolling_resistance_1, m_rolling_resistance_2, m_rolling_resistance_factor, m_slide, m_tire_friction, Vamos_Body::Exerter::m_torque, m_tread, m_velocity, Vamos_Geometry::Handle< T >::null(), Vamos_Body::Tire_Friction::Pacejka_Fx(), Vamos_Body::Tire_Friction::Pacejka_Fy(), Vamos_Body::Tire_Friction::Pacejka_Mz(), sigma_hat, Vamos_Body::Tire_Friction::slide(), speed(), and Vamos_Geometry::Three_Vector::zero().
Referenced by Vamos_Body::Wheel::find_forces().

void Vamos_Body::Tire::FindSigmaHatAlphaHat ( double load,

double & sh,

double & ah

) [private]

Definition at line 718 of file Tire.cc.
References m_tire_friction, Vamos_Body::Tire_Friction::Pacejka_Fx(), and Vamos_Body::Tire_Friction::Pacejka_Fy().
Referenced by reset().

double Vamos_Body::Tire::GetFeedback ( ) [inline]

Definition at line 196 of file Tire.h.
References m_feedback.
Referenced by Vamos_Body::Wheel::GetFeedback().

void Vamos_Body::Tire::input ( const Vamos_Geometry::Three_Vector & velocity,

double normal_ang_velocity,

const Vamos_Geometry::Three_Vector & normal_force,

double camber,

double torque,

bool is_locked,

Vamos_Geometry::Material_Handle material

)

Definition at line 428 of file Tire.cc.
References Vamos_Geometry::Three_Vector::abs(), m_applied_torque, m_camber, m_is_locked, m_material, m_normal_ang_velocity, m_normal_force, m_velocity, Vamos_Body::Particle::material(), orient_frame_with_unit_vector(), Vamos_Body::Frame::rotate_in(), Vamos_Geometry::Three_Vector::unit(), and Vamos_Body::Frame::velocity().
Referenced by Vamos_Body::Wheel::find_forces().

void Vamos_Body::Tire::orient_frame_with_unit_vector ( const Vamos_Geometry::Three_Vector & normal_unit_vector ) [private]

Definition at line 449 of file Tire.cc.
References Vamos_Body::Frame::orient(), Vamos_Body::Frame::rotate(), and Vamos_Geometry::Three_Vector::unit().
Referenced by input().

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

Reimplemented from Vamos_Body::Exerter.
Definition at line 672 of file Tire.cc.
References m_applied_torque, m_inertia, m_is_locked, m_last_rotational_speed, and m_rotational_speed.
Referenced by Vamos_Body::Wheel::propagate().

double Vamos_Body::Tire::radius ( ) const [inline]

Definition at line 176 of file Tire.h.
References m_radius.
Referenced by Vamos_Body::Wheel::propagate().

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

Reimplemented from Vamos_Body::Exerter.
Definition at line 702 of file Tire.cc.
References alpha_hat, FindSigmaHatAlphaHat(), HAT_ITERATIONS, HAT_LOAD, Vamos_Body::Exerter::m_force, m_rotational_speed, Vamos_Body::Exerter::m_torque, sigma_hat, and Vamos_Geometry::Three_Vector::zero().
Referenced by Vamos_Body::Wheel::reset().

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

Reimplemented from Vamos_Body::Exerter.
Definition at line 687 of file Tire.cc.
References m_last_rotational_speed, and m_rotational_speed.
Referenced by Vamos_Body::Wheel::rewind().

double Vamos_Body::Tire::rotational_speed ( ) const [inline]

Definition at line 179 of file Tire.h.
References m_rotational_speed.
Referenced by Vamos_Body::Wheel::brake(), and Vamos_Body::Wheel::rotational_speed().

void Vamos_Body::Tire::set_rotational_speed ( double newrs ) [inline]

Definition at line 181 of file Tire.h.
References m_last_rotational_speed, and m_rotational_speed.
Referenced by Vamos_Body::Wheel::set_rotational_speed().

void Vamos_Body::Tire::SetSurfaceParams ( double f1,

double f2,

double rr,

double rd

) [inline]

Definition at line 198 of file Tire.h.
References m_friction1, m_friction2, m_rolling_drag, and m_rolling_resistance_factor.
Referenced by Vamos_Body::Wheel::SetColParams().

double Vamos_Body::Tire::slide ( ) const [inline]

Definition at line 187 of file Tire.h.
References m_slide.
Referenced by Vamos_Body::Wheel::slide().

double Vamos_Body::Tire::speed ( ) const [inline]

Definition at line 184 of file Tire.h.
References m_radius, and m_rotational_speed.
Referenced by find_forces(), and Vamos_Body::Wheel::speed().

Member Data Documentation

double Vamos_Body::Tire::alpha_hat[HAT_ITERATIONS] [private]

Definition at line 85 of file Tire.h.
Referenced by find_forces(), and reset().

double Vamos_Body::Tire::m_applied_torque [private]

Definition at line 127 of file Tire.h.
Referenced by find_forces(), input(), and propagate().

double Vamos_Body::Tire::m_camber [private]

Definition at line 124 of file Tire.h.
Referenced by find_forces(), and input().

double Vamos_Body::Tire::m_feedback [private]

Definition at line 139 of file Tire.h.
Referenced by find_forces(), and GetFeedback().

double Vamos_Body::Tire::m_friction1 [private]

Definition at line 145 of file Tire.h.
Referenced by find_forces(), and SetSurfaceParams().

double Vamos_Body::Tire::m_friction2 [private]

Definition at line 146 of file Tire.h.
Referenced by find_forces(), and SetSurfaceParams().

double Vamos_Body::Tire::m_inertia [private]

Definition at line 102 of file Tire.h.
Referenced by propagate().

bool Vamos_Body::Tire::m_is_locked [private]

Definition at line 130 of file Tire.h.
Referenced by find_forces(), input(), and propagate().

double Vamos_Body::Tire::m_last_rotational_speed [private]

Definition at line 107 of file Tire.h.
Referenced by propagate(), rewind(), and set_rotational_speed().

Vamos_Geometry::Material_Handle Vamos_Body::Tire::m_material [private]

Reimplemented from Vamos_Body::Particle.
Definition at line 133 of file Tire.h.
Referenced by find_forces(), and input().

double Vamos_Body::Tire::m_normal_ang_velocity [private]

Definition at line 118 of file Tire.h.
Referenced by input().

double Vamos_Body::Tire::m_normal_force [private]

Definition at line 121 of file Tire.h.
Referenced by find_forces(), and input().

double Vamos_Body::Tire::m_radius [private]

Definition at line 91 of file Tire.h.
Referenced by contact_position(), find_forces(), radius(), and speed().

double Vamos_Body::Tire::m_rolling_drag [private]

Definition at line 148 of file Tire.h.
Referenced by find_forces(), and SetSurfaceParams().

double Vamos_Body::Tire::m_rolling_resistance_1 [private]

Definition at line 94 of file Tire.h.
Referenced by find_forces().

double Vamos_Body::Tire::m_rolling_resistance_2 [private]

Definition at line 97 of file Tire.h.
Referenced by find_forces().

double Vamos_Body::Tire::m_rolling_resistance_factor [private]

Definition at line 147 of file Tire.h.
Referenced by find_forces(), and SetSurfaceParams().

double Vamos_Body::Tire::m_rotational_speed [private]

Definition at line 105 of file Tire.h.
Referenced by propagate(), reset(), rewind(), rotational_speed(), set_rotational_speed(), and speed().

double Vamos_Body::Tire::m_slide [private]

Definition at line 110 of file Tire.h.
Referenced by find_forces(), and slide().

Tire_Friction Vamos_Body::Tire::m_tire_friction [private]

Definition at line 99 of file Tire.h.
Referenced by find_forces(), and FindSigmaHatAlphaHat().

double Vamos_Body::Tire::m_tread [private]

Definition at line 142 of file Tire.h.
Referenced by find_forces().

Vamos_Geometry::Three_Vector Vamos_Body::Tire::m_velocity [private]

Reimplemented from Vamos_Body::Frame.
Definition at line 115 of file Tire.h.
Referenced by find_forces(), and input().

double Vamos_Body::Tire::sigma_hat[HAT_ITERATIONS] [private]

Definition at line 82 of file Tire.h.
Referenced by find_forces(), and reset().

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

include/vamos/body/Tire.h
src/vamos/body/Tire.cc

Generated on Thu Oct 19 04:13:37 2006 by

1.4.6

Vamos_Body::Tire Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation