Vamos_Body::Wheel Class Reference

#include <Wheel.h>

Inheritance diagram for Vamos_Body::Wheel:

[legend]Collaboration diagram for Vamos_Body::Wheel:

[legend]List of all members.

Public Member Functions
	Wheel (double mass, Vamos_Geometry::Three_Vector position, double tire_offset, double roll_height, double restitution, Suspension *suspension, const Tire &tire, const Brake &brake, bool steered, bool driven, Vamos_Geometry::Side side)
void	find_forces ()
Suspension *	suspension ()
Vamos_Geometry::Three_Vector	ang_velocity ()
void	set_ang_velocity (Vamos_Geometry::Three_Vector newvel)
void	propagate (double time)
void	rewind ()
double	contact (const Vamos_Geometry::Three_Vector &position, const Vamos_Geometry::Inertia_Tensor &inertia, const Vamos_Geometry::Three_Vector &vecocity, double distance, const Vamos_Geometry::Three_Vector &normal, const Vamos_Geometry::Three_Vector &ang_velocity, Vamos_Geometry::Material_Handle material)
void	drive_torque (double torque_in)
void	brake (double factor)
double	get_handbrake_multiplier ()
void	steer (double degree_angle)
double	slide () const
double	rotational_speed () const
void	set_rotational_speed (double newrs)
double	speed () const
double	GetFeedback ()
Vamos_Geometry::Three_Vector	force_position () const
Vamos_Geometry::Three_Vector	contact_position () const
Vamos_Geometry::Three_Vector	position () const
double	slip () const
void	reset ()
bool	single_contact () const
bool	steered () const
bool	driven () const
Vamos_Geometry::Side	side () const
void	set_models (std::string slow_file, std::string fast_file, double transition_speed, std::string stator_file, double stator_offset, double scale, const Vamos_Geometry::Three_Vector &translation, const Vamos_Geometry::Three_Vector &rotation)
void	draw ()
void	SetColParams (double f1, double f2, double rr, double rd)
Private Member Functions
void	transform ()
Private Attributes
Vamos_Geometry::Three_Vector	m_original_position
double	m_tire_offset
double	m_roll_height
Suspension *	mp_suspension
Tire	m_tire
Brake	m_brake
Vamos_Geometry::Three_Vector	m_ground_velocity
Vamos_Geometry::Three_Vector	m_normal
Vamos_Geometry::Three_Vector	m_ang_velocity
Vamos_Geometry::Material_Handle	m_material
double	m_tire_torque
double	m_drive_torque
double	m_braking_torque
bool	m_steered
bool	m_driven
Vamos_Geometry::Side	m_side
double	m_transition_speed
double	m_rotation
JOEMODEL	model

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Detailed Description

Definition at line 44 of file Wheel.h.

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Constructor & Destructor Documentation

Vamos_Body::Wheel::Wheel (  double  mass, Vamos_Geometry::Three_Vector  position, double  tire_offset, double  roll_height, double  restitution, Suspension *  suspension, const Tire &  tire, const Brake &  brake, bool  steered, bool  driven, Vamos_Geometry::Side  side )

Definition at line 32 of file Wheel.cc.

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Member Function Documentation

Vamos_Geometry::Three_Vector Vamos_Body::Wheel::ang_velocity (   )

Definition at line 315 of file Wheel.cc. References m_ang_velocity. Referenced by contact().

void Vamos_Body::Wheel::brake (  double  factor  )

Definition at line 160 of file Wheel.cc. References m_brake, m_braking_torque, m_tire, Vamos_Body::Tire::rotational_speed(), and Vamos_Body::Brake::torque().

double Vamos_Body::Wheel::contact (  const Vamos_Geometry::Three_Vector &  position, const Vamos_Geometry::Inertia_Tensor &  inertia, const Vamos_Geometry::Three_Vector &  vecocity, double  distance, const Vamos_Geometry::Three_Vector &  normal, const Vamos_Geometry::Three_Vector &  ang_velocity, Vamos_Geometry::Material_Handle  material )  [virtual]

Reimplemented from Vamos_Body::Contact_Point. Definition at line 114 of file Wheel.cc. References ang_velocity(), Vamos_Body::Suspension::bottomed_out(), Vamos_Body::Particle::contact(), Vamos_Body::Contact_Point::m_contact, Vamos_Body::Particle::material(), mp_suspension, position(), Vamos_Body::Frame::rotate_in(), and Vamos_Body::Frame::velocity().

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

Reimplemented from Vamos_Body::Particle. Definition at line 177 of file Wheel.cc. References Vamos_Body::Tire::contact_position(), m_original_position, m_tire, and m_tire_offset.

void Vamos_Body::Wheel::draw (   )

Definition at line 284 of file Wheel.cc. References Vamos_Body::Suspension::draw(), JOEMODEL::DrawStatic(), m_side, model, mp_suspension, Vamos_Geometry::RIGHT, and transform(). Referenced by Vamos_Body::Gl_Car::draw().

void Vamos_Body::Wheel::drive_torque (  double  torque_in  )

Definition at line 152 of file Wheel.cc. References m_drive_torque.

bool Vamos_Body::Wheel::driven (   )  const [inline]

Definition at line 200 of file Wheel.h. References m_driven.

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

Reimplemented from Vamos_Body::Contact_Point. Definition at line 70 of file Wheel.cc. References Vamos_Body::Suspension::current_camber(), Vamos_Body::Tire::find_forces(), Vamos_Body::Particle::force(), Vamos_Body::Suspension::force(), Vamos_Body::Tire::input(), Vamos_Body::Brake::is_locked(), m_ang_velocity, m_brake, m_braking_torque, Vamos_Body::Contact_Point::m_contact, m_drive_torque, Vamos_Body::Exerter::m_force, m_ground_velocity, Vamos_Body::Exerter::m_impulse, m_material, m_normal, m_original_position, Vamos_Body::Frame::m_position, m_tire, Vamos_Body::Exerter::m_torque, mp_suspension, Vamos_Geometry::Three_Vector::project(), Vamos_Body::Suspension::reset(), Vamos_Body::Particle::torque(), Vamos_Geometry::Three_Vector::unit(), and Vamos_Geometry::Three_Vector::zero().

Three_Vector Vamos_Body::Wheel::force_position (   )  const [virtual]

Reimplemented from Vamos_Body::Particle. Definition at line 168 of file Wheel.cc. References Vamos_Body::Tire::contact_position(), Vamos_Body::Frame::m_position, m_roll_height, m_tire, and m_tire_offset.

double Vamos_Body::Wheel::get_handbrake_multiplier (   )  [inline]

Definition at line 160 of file Wheel.h. References Vamos_Body::Brake::handbrake(), and m_brake.

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

Definition at line 179 of file Wheel.h. References Vamos_Body::Tire::GetFeedback(), and m_tire.

Three_Vector Vamos_Body::Wheel::position (   )  const

Reimplemented from Vamos_Body::Frame. Definition at line 185 of file Wheel.cc. References Vamos_Body::Frame::m_position. Referenced by contact().

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

Reimplemented from Vamos_Body::Exerter. Definition at line 97 of file Wheel.cc. References m_rotation, m_tire, mp_suspension, Vamos_Body::Frame::orient(), Vamos_Body::Frame::orientation(), Vamos_Body::Tire::propagate(), Vamos_Body::Tire::radius(), and speed().

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

Reimplemented from Vamos_Body::Exerter. Definition at line 201 of file Wheel.cc. References m_tire, Vamos_Body::Tire::reset(), and Vamos_Body::Exerter::reset().

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

Reimplemented from Vamos_Body::Exerter. Definition at line 106 of file Wheel.cc. References m_tire, and Vamos_Body::Tire::rewind().

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

Definition at line 171 of file Wheel.h. References m_tire, and Vamos_Body::Tire::rotational_speed().

void Vamos_Body::Wheel::set_ang_velocity (  Vamos_Geometry::Three_Vector  newvel  )  [inline]

Reimplemented from Vamos_Body::Frame. Definition at line 136 of file Wheel.h. References m_ang_velocity.

void Vamos_Body::Wheel::set_models (  std::string  slow_file, std::string  fast_file, double  transition_speed, std::string  stator_file, double  stator_offset, double  scale, const Vamos_Geometry::Three_Vector &  translation, const Vamos_Geometry::Three_Vector &  rotation )

Definition at line 219 of file Wheel.cc. References JOEMODEL::Load(), m_side, m_transition_speed, model, and Vamos_Geometry::RIGHT.

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

Definition at line 173 of file Wheel.h. References m_tire, and Vamos_Body::Tire::set_rotational_speed().

void Vamos_Body::Wheel::SetColParams (  double  f1, double  f2, double  rr, double  rd )  [inline]

Definition at line 214 of file Wheel.h. References m_tire, and Vamos_Body::Tire::SetSurfaceParams(). Referenced by Vamos_Body::Car::SetColParams().

Vamos_Geometry::Side Vamos_Body::Wheel::side (   )  const [inline]

Definition at line 202 of file Wheel.h. References m_side.

bool Vamos_Body::Wheel::single_contact (   )  const [inline, virtual]

Reimplemented from Vamos_Body::Contact_Point. Definition at line 197 of file Wheel.h.

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

Definition at line 168 of file Wheel.h. References m_tire, and Vamos_Body::Tire::slide().

double Vamos_Body::Wheel::slip (   )  const

Definition at line 192 of file Wheel.cc. References m_ground_velocity, and speed().

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

Definition at line 177 of file Wheel.h. References m_tire, and Vamos_Body::Tire::speed(). Referenced by propagate(), and slip().

void Vamos_Body::Wheel::steer (  double  degree_angle  )  [inline]

Definition at line 163 of file Wheel.h. References mp_suspension, and Vamos_Body::Suspension::steer().

bool Vamos_Body::Wheel::steered (   )  const [inline]

Definition at line 199 of file Wheel.h. References m_steered.

Vamos_Body::Suspension * Vamos_Body::Wheel::suspension (   )

Definition at line 309 of file Wheel.cc. References mp_suspension.

void Vamos_Body::Wheel::transform (   )  [private]

Definition at line 266 of file Wheel.cc. References Vamos_Body::Frame::axis_angle(), Vamos_Body::Frame::m_position, and m_rotation. Referenced by draw().

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Member Data Documentation

Vamos_Geometry::Three_Vector Vamos_Body::Wheel::m_ang_velocity [private]

Reimplemented from Vamos_Body::Frame. Definition at line 74 of file Wheel.h. Referenced by ang_velocity(), find_forces(), and set_ang_velocity().

Brake Vamos_Body::Wheel::m_brake [private]

Definition at line 65 of file Wheel.h. Referenced by brake(), find_forces(), and get_handbrake_multiplier().

double Vamos_Body::Wheel::m_braking_torque [private]

Definition at line 84 of file Wheel.h. Referenced by brake(), and find_forces().

double Vamos_Body::Wheel::m_drive_torque [private]

Definition at line 82 of file Wheel.h. Referenced by drive_torque(), and find_forces().

bool Vamos_Body::Wheel::m_driven [private]

Definition at line 90 of file Wheel.h. Referenced by driven().

Vamos_Geometry::Three_Vector Vamos_Body::Wheel::m_ground_velocity [private]

Definition at line 68 of file Wheel.h. Referenced by find_forces(), and slip().

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

Reimplemented from Vamos_Body::Particle. Definition at line 77 of file Wheel.h. Referenced by find_forces().

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

Definition at line 71 of file Wheel.h. Referenced by find_forces().

Vamos_Geometry::Three_Vector Vamos_Body::Wheel::m_original_position [private]

Definition at line 49 of file Wheel.h. Referenced by contact_position(), and find_forces().

double Vamos_Body::Wheel::m_roll_height [private]

Definition at line 55 of file Wheel.h. Referenced by force_position().

double Vamos_Body::Wheel::m_rotation [private]

Definition at line 104 of file Wheel.h. Referenced by propagate(), and transform().

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

Definition at line 93 of file Wheel.h. Referenced by draw(), set_models(), and side().

bool Vamos_Body::Wheel::m_steered [private]

Definition at line 87 of file Wheel.h. Referenced by steered().

Tire Vamos_Body::Wheel::m_tire [private]

Definition at line 62 of file Wheel.h. Referenced by brake(), contact_position(), find_forces(), force_position(), GetFeedback(), propagate(), reset(), rewind(), rotational_speed(), set_rotational_speed(), SetColParams(), slide(), and speed().

double Vamos_Body::Wheel::m_tire_offset [private]

Definition at line 51 of file Wheel.h. Referenced by contact_position(), and force_position().

double Vamos_Body::Wheel::m_tire_torque [private]

Definition at line 80 of file Wheel.h.

double Vamos_Body::Wheel::m_transition_speed [private]

Definition at line 101 of file Wheel.h. Referenced by set_models().

JOEMODEL Vamos_Body::Wheel::model [private]

Definition at line 106 of file Wheel.h. Referenced by draw(), and set_models().

Suspension* Vamos_Body::Wheel::mp_suspension [private]

Definition at line 59 of file Wheel.h. Referenced by contact(), draw(), find_forces(), propagate(), steer(), and suspension().

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

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

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