Description

Base class for a tracked vehicle suspension subsystem.

#include <ChTrackSuspension.h>

Inheritance diagram for chrono::vehicle::ChTrackSuspension:
Collaboration diagram for chrono::vehicle::ChTrackSuspension:

Classes

struct  ForceTorque
 Output structure for spring-damper forces or torques. More...
 

Public Member Functions

GuidePinType GetType () const
 Return the type of track shoe consistent with this road wheel.
 
std::shared_ptr< ChTrackWheelGetRoadWheel () const
 Return a handle to the road wheel subsystem.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Return the body of the idler wheel.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const =0
 Return a handle to the carrier body (the body to which the road-wheel is attached).
 
virtual double GetCarrierAngle () const =0
 Return the current pitch angle of the carrier body. More...
 
std::shared_ptr< ChLinkLockRevoluteGetWheelRevolute () const
 Get a handle to the revolute joint of the road-wheel.
 
double GetWheelRadius () const
 Get the radius of the road wheel.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track)
 Initialize this suspension subsystem. More...
 
virtual ForceTorque ReportSuspensionForce () const =0
 Return current suspension forces or torques, as appropriate (spring and shock). More...
 
virtual void SetOutput (bool state) override
 Enable/disable output for this subsystem. More...
 
virtual void LogConstraintViolations ()=0
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
const std::string & GetName () const
 Get the name identifier for this subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

 ChTrackSuspension (const std::string &name, bool has_shock, bool lock_arm)
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
virtual void InitializeInertiaProperties ()=0
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties ()=0
 Update subsystem inertia properties. More...
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

GuidePinType m_type
 type of the track shoe matching this road wheel
 
bool m_has_shock
 specifies whether or not the suspension has a damper
 
bool m_lock_arm
 specified whether the suspension arm is locked
 
ChVector m_rel_loc
 suspension subsystem location relative to chassis
 
std::shared_ptr< ChTrackWheelm_road_wheel
 road-wheel subsystem
 
ChTrackAssemblym_track
 containing track assembly
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Friends

class ChTrackAssembly
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 

Constructor & Destructor Documentation

◆ ChTrackSuspension()

chrono::vehicle::ChTrackSuspension::ChTrackSuspension ( const std::string &  name,
bool  has_shock,
bool  lock_arm 
)
protected
Parameters
[in]namename of the subsystem
[in]has_shockspecify whether or not the suspension has a damper
[in]lock_armif true, the suspension arm is locked

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackSuspension::ExportComponentList ( rapidjson::Document &  jsonDocument) const
overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ GetCarrierAngle()

virtual double chrono::vehicle::ChTrackSuspension::GetCarrierAngle ( ) const
pure virtual

Return the current pitch angle of the carrier body.

This angle is measured in the x-z transversal plane, from the initial configuration, and follows the right-hand rule.

Implemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ Initialize()

void chrono::vehicle::ChTrackSuspension::Initialize ( std::shared_ptr< ChChassis chassis,
const ChVector<> &  location,
ChTrackAssembly track 
)
virtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always centered at the location of the road wheel and aligned with the chassis reference frame. Derived classes must call this base class implementation (which only initializes the road wheel).

Parameters
[in]chassisassociated chassis subsystem
[in]locationlocation relative to the chassis frame
[in]trackcontaining track assembly

Reimplemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ ReportSuspensionForce()

virtual ForceTorque chrono::vehicle::ChTrackSuspension::ReportSuspensionForce ( ) const
pure virtual

Return current suspension forces or torques, as appropriate (spring and shock).

Different derived types (suspension templates) may load different quantities in the output struct.

Implemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ SetOutput()

void chrono::vehicle::ChTrackSuspension::SetOutput ( bool  state)
overridevirtual

Enable/disable output for this subsystem.

This function overrides the output setting for all components of this suspension assembly.

Reimplemented from chrono::vehicle::ChPart.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackSuspension.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackSuspension.cpp