Description

Base class for a tracked vehicle driveline.

#include <ChDrivelineTV.h>

Inheritance diagram for chrono::vehicle::ChDrivelineTV:
Collaboration diagram for chrono::vehicle::ChDrivelineTV:

Public Member Functions

 ChDrivelineTV (const std::string &name)
 
virtual double GetSprocketTorque (VehicleSide side) const =0
 Get the motor torque to be applied to the specified sprocket.
 
virtual double GetSprocketSpeed (VehicleSide side) const =0
 Get the angular speed of the specified sprocket.
 
virtual void SetGyrationMode (bool mode)
 Turn gyration mode on/off.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right)=0
 Initialize the driveline subsystem. More...
 
virtual void Synchronize (double steering, double torque)
 Update the driveline subsystem. More...
 
- Public Member Functions inherited from chrono::vehicle::ChDriveline
 ChDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. More...
 
virtual double GetDriveshaftSpeed () const
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double torque)
 Update the driveline subsystem. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
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.
 
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.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Attributes

bool m_gyration_mode
 flag indicating if in gyration mode (turn in place)
 
- Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaftm_driveshaft
 shaft connection to the powertrain
 
- 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
 

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...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. 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< ChLinkRotSpringCB >> 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.
 

Member Function Documentation

◆ Initialize()

virtual void chrono::vehicle::ChDrivelineTV::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChTrackAssembly track_left,
std::shared_ptr< ChTrackAssembly track_right 
)
pure virtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the sprockets of the two track assembly subsystems.

Parameters
chassisassociated chassis subsystem
track_leftleft track assembly
track_rightright track assembly

Implemented in chrono::vehicle::ChTrackDrivelineBDS, and chrono::vehicle::ChSimpleTrackDriveline.

◆ Synchronize()

void chrono::vehicle::ChDrivelineTV::Synchronize ( double  steering,
double  torque 
)
virtual

Update the driveline subsystem.

The motor torque represents the input to the driveline subsystem from the powertrain system. The default implementation applies this torque to the driveline's driveshaft. A derived class must also process the steering input to send appropriate torques to the sprockets of the two track assemblies.

Reimplemented in chrono::vehicle::ChSimpleTrackDriveline.


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