chrono车辆仿真_12_常用API总结

Chrono 车辆仿真常用 API 总结一、车辆核心 API1.1 ChVehicle 基类分类API返回类型说明基础信息GetName()string获取车辆名称GetTemplateName()string获取模板名称（虚函数）GetSystem()ChSystem*获取物理系统指针GetChTime()double获取当前仿真时间整车状态GetMass()double获取整车质量GetPos()ChVector3d获取车辆位置GetRot()ChQuaternion获取车辆姿态GetSpeed()double获取前进速度GetRoll()/GetPitch()double获取侧倾/俯仰角GetRollRate()/GetPitchRate()/GetYawRate()double角速度GetSlipAngle()double获取侧滑角组件访问GetChassis()shared_ptrChChassis获取车架GetChassisBody()shared_ptrChBodyAuxRef获取车架刚体GetEngine()shared_ptrChEngine获取发动机GetTransmission()shared_ptrChTransmission获取变速箱初始化Initialize(pos, vel)-初始化车辆位置InitializePowertrain(powertrain)-初始化动力系统仿真控制Synchronize(time, inputs)-同步各组件Advance(step)-推进仿真EnableRealtime(bool)-启用实时模式GetRTF()double获取实时因子可视化SetChassisVisualizationType(vis)-设置可视化类型SetChassisCollide(bool)-设置碰撞启用输出SetOutput(...)-设置数据输出ExportComponentList()string导出组件列表1.2 ChWheeledVehicle 轮式车辆分类API返回类型说明车轴访问GetAxles()ChAxleList获取所有车轴GetAxle(id)shared_ptrChAxle获取指定车轴GetSuspension(id)shared_ptrChSuspension获取悬架GetNumberAxles()unsigned int获取车轴数量车轮访问GetWheel(axle, side, loc)shared_ptrChWheel获取车轮GetTire(axle, side, loc)shared_ptrChTire获取轮胎GetBrake(axle, side)shared_ptrChBrake获取制动器转向访问GetSteerings()ChSteeringList获取转向系统GetSteering(id)shared_ptrChSteering获取指定转向传动访问GetDriveline()shared_ptrChDrivelineWV获取传动系轮轴状态GetSpindlePos(axle, side)ChVector3d获取轮轴位置GetSpindleRot(axle, side)ChQuaternion获取轮轴姿态GetSpindleOmega(axle, side)double获取轮轴转速GetSteeringAngle(axle, side)double获取转向角车辆参数GetWheelbase()double获取轴距GetWheeltrack(id)double获取轮距GetMinTurningRadius()double最小转弯半径GetMaxSteeringAngle()double最大转向角控制LockAxleDifferential(axle, lock)-锁定轴间差速器LockCentralDifferential(which, lock)-锁定中央差速器ApplyParkingBrake(lock)-应用驻车制动DisconnectDriveline()-断开传动系轮胎初始化InitializeTire(tire, wheel)-初始化轮胎二、组件基类 API2.1 ChPart 零件基类分类API返回类型说明身份GetName()/SetName(name)string/ void名称管理GetTemplateName()string模板名称（虚函数）IsInitialized()bool是否已初始化惯性GetMass()double组件质量GetCOMFrame()ChFrame质心坐标系GetInertia()ChMatrix33惯量矩阵GetTransform()ChFrame世界变换可视化SetVisualizationType(vis)-设置可视化AddVisualizationAssets(vis)-添加可视化资源RemoveVisualizationAssets()-移除可视化输出SetOutput(bool)/OutputEnabled()- /bool输出控制ExportComponentList(json)-导出组件列表2.2 ChChassis 车架分类API返回类型说明刚体GetBody()shared_ptrChBodyAuxRef获取刚体GetSystem()ChSystem*获取物理系统状态GetPos()/GetRot()ChVector3d/ChQuaternion位置/姿态GetSpeed()double前进速度GetCOMSpeed()double质心速度GetRollRate()/GetPitchRate()/GetYawRate()double角速度GetTurnRate()double转向速率点位GetDriverPos()ChVector3d驾驶员位置GetPointLocation(locpos)ChVector3d点的世界位置GetPointVelocity(locpos)ChVector3d点的速度GetPointAcceleration(locpos)ChVector3d点的加速度控制SetFixed(bool)-固定车架IsFixed()