Description

Base class for an idler subsystem.

An idler consists of the idler wheel and a connecting body. The idler wheel is connected through a revolute joint to the connecting body which in turn is connected to the chassis through a translational joint. A linear actuator acts as a tensioner.

#include <ChIdler.h>

Inheritance diagram for chrono::vehicle::ChIdler:
Collaboration diagram for chrono::vehicle::ChIdler:

Public Member Functions

 ChIdler (const std::string &name)
 
virtual GuidePinType GetType () const =0
 Return the type of track shoe consistent with this idler.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
virtual double GetWheelRadius () const =0
 Get the radius of the idler wheel.
 
void SetCollide (bool val)
 Turn on/off collision flag for the idler wheel.
 
virtual double GetMass () const
 Get the mass of the idler subsystem.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)
 Initialize this idler subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the idler subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the idler subsystem. More...
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- 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 SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Types

enum  PointId {
  WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER,
  TSDA_CHASSIS, NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 

Protected Member Functions

virtual const ChVector GetLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double GetWheelMass () const =0
 Return the mass of the idler wheel body.
 
virtual const ChVectorGetWheelInertia ()=0
 Return the moments of inertia of the idler wheel body.
 
virtual double GetCarrierMass () const =0
 Return the mass of the carrier body.
 
virtual const ChVectorGetCarrierInertia ()=0
 Return the moments of inertia of the carrier body.
 
virtual double GetCarrierVisRadius () const =0
 Return a visualization radius for the carrier body.
 
virtual double GetPrismaticPitchAngle () const =0
 Return the pitch angle of the prismatic joint.
 
virtual ChLinkTSDA::ForceFunctorGetTensionerForceCallback () const =0
 Return the functor object for spring force.
 
virtual double GetTensionerFreeLength () const =0
 Return the free length for the tensioner spring.
 
virtual void CreateContactMaterial (ChContactMethod contact_method)=0
 Create the contact material consistent with the specified contact method.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

std::shared_ptr< ChBodym_wheel
 handle to the idler wheel body
 
std::shared_ptr< ChBodym_carrier
 handle to the carrier body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to wheel-carrier revolute joint
 
std::shared_ptr< ChLinkLockPrismaticm_prismatic
 handle to carrier-chassis translational joint
 
std::shared_ptr< ChLinkTSDAm_tensioner
 handle to the TSDA tensioner element
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
- 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
 

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< 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 Enumeration Documentation

◆ PointId

Identifiers for the various hardpoints.

Enumerator
WHEEL 

idler wheel location

CARRIER 

carrier location

CARRIER_CHASSIS 

carrier, connection to chassis (translational)

TSDA_CARRIER 

TSDA connection to carrier.

TSDA_CHASSIS 

TSDA connection to chassis.

Constructor & Destructor Documentation

◆ ChIdler()

chrono::vehicle::ChIdler::ChIdler ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChIdler::AddVisualizationAssets ( VisualizationType  vis)
overridevirtual

Add visualization assets for the idler subsystem.

This default implementation adds assets to the carrier body.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::m113::M113_Idler, chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.

◆ ExportComponentList()

void chrono::vehicle::ChIdler::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.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChIdler::GetLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

Implemented in chrono::vehicle::m113::M113_Idler.

◆ Initialize()

void chrono::vehicle::ChIdler::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location 
)
virtual

Initialize this idler subsystem.

The idler 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 idler subsystem reference frame is always aligned with the chassis reference frame. A derived idler subsystem template class must extend this default implementation and specify contact geometry for the idler wheel.

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame

Reimplemented in chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.

◆ RemoveVisualizationAssets()

void chrono::vehicle::ChIdler::RemoveVisualizationAssets ( )
overridevirtual

Remove visualization assets for the idler subsystem.

This default implementation removes the assets from the carrier body.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.


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