mbsim 4.0.0 MBSim Kernel

tyre_contact_observer.h
1 /* Copyright (C) 2004-2022 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@gmail.com
18 */
19
20 #ifndef _TYRE_CONTACT_OBSERVER_H_
21 #define _TYRE_CONTACT_OBSERVER_H_
22
23 #include "mbsim/observers/mechanical_link_observer.h"
24 #include <mbsim/utils/openmbv_utils.h>
25 #include <openmbvcppinterface/frame.h>
26
27 namespace MBSim {
28
29 class TyreContact;
30
31 class TyreContactObserver : public MechanicalLinkObserver {
32
33 protected:
34 int iM;
35 std::vector<std::shared_ptr<OpenMBV::Frame>> openMBVContactFrame;
36
37 std::shared_ptr<OpenMBVInteractionArrow> ombvNormalForce, ombvLongitudinalForce, ombvLateralForce, ombvOverturningMoment, ombvRollingResistanceMoment, ombvAligningMoment;
38 std::vector<std::shared_ptr<OpenMBV::Arrow>> normalForceArrow, longitudinalForceArrow, lateralForceArrow, overturningMomentArrow, rollingResistanceMomentArrow, aligningMomentArrow;
39
40 public:
41 TyreContactObserver(const std::string &name="");
42
43 void init(InitStage stage, const InitConfigSet &config) override;
44 void plot() override;
45 void initializeUsingXML(xercesc::DOMElement *element) override;
46
47 void setOpenMBVContactPoints(const std::shared_ptr<OpenMBV::Frame> &frame) {
48 openMBVContactFrame[0]=frame;
49 openMBVContactFrame[1]=OpenMBV::ObjectFactory::create(openMBVContactFrame[0]);
50 }
51
52 void setOMBVNormalForce(const std::shared_ptr<OpenMBVInteractionArrow> &arrow) { ombvNormalForce=arrow; }
53 void setOMBVLongitudinalForce(const std::shared_ptr<OpenMBVInteractionArrow> &arrow) { ombvLongitudinalForce=arrow; }
54 void setOMBVLateralForce(const std::shared_ptr<OpenMBVInteractionArrow> &arrow) { ombvLateralForce=arrow; }
55 void setOMBVOverturningMoment(const std::shared_ptr<OpenMBVInteractionArrow> &arrow) { ombvOverturningMoment=arrow; }
56 void setOMBVRollingResistanceMoment(const std::shared_ptr<OpenMBVInteractionArrow> &arrow) { ombvRollingResistanceMoment=arrow; }
57 void setOMBVAligningMoment(const std::shared_ptr<OpenMBVInteractionArrow> &arrow) { ombvAligningMoment=arrow; }
58 };
59
60 }
61
62 #endif
MBSim::MechanicalLinkObserver
Definition: mechanical_link_observer.h:33
MBSim::TyreContactObserver::plot
void plot() override
plots time dependent data
Definition: tyre_contact_observer.cc:135
MBSim::TyreContactObserver
Definition: tyre_contact_observer.h:31
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::TyreContactObserver::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: tyre_contact_observer.cc:40
OpenMBV::ObjectFactory::create
static std::shared_ptr< CreateType > create()
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30