Description

Base class for a tracked vehicle sprocket.

A sprocket is responsible for contact processing with the track shoes of the containing track assembly.

#include <ChSprocket.h>

Inheritance diagram for chrono::vehicle::ChSprocket:
Collaboration diagram for chrono::vehicle::ChSprocket:

Public Member Functions

 ChSprocket (const std::string &name)
 
virtual int GetNumTeeth () const =0
 Get the number of teeth of the gear.
 
virtual double GetAssemblyRadius () const =0
 Get the track assembly radius. More...
 
std::shared_ptr< ChBodyGetGearBody () const
 Get a handle to the gear body.
 
std::shared_ptr< ChShaftGetAxle () const
 Get a handle to the axle shaft.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
double GetAxleSpeed () const
 Get the angular speed of the axle.
 
void SetCollide (bool val)
 Turn on/off collision flag for the gear wheel.
 
virtual double GetMass () const
 Get the mass of the sprocket subsystem.
 
std::shared_ptr< ChMaterialSurfaceGetContactMaterial () const
 Get the sprocket contact material.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, ChTrackAssembly *track)
 Initialize this sprocket subsystem. More...
 
void ApplyAxleTorque (double torque)
 Apply the provided motor torque. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the sprocket subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the sprocket subsystem.
 
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 Member Functions

virtual double GetGearMass () const =0
 Return the mass of the gear body.
 
virtual const ChVectorGetGearInertia ()=0
 Return the moments of inertia of the gear body.
 
virtual double GetAxleInertia () const =0
 Return the inertia of the axle shaft.
 
virtual double GetSeparation () const =0
 Return the distance between the two gear profiles.
 
virtual std::shared_ptr< geometry::ChLinePathGetProfile ()=0
 Return the 2D gear profile. More...
 
virtual void CreateContactMaterial (ChContactMethod contact_method)=0
 Create the contact material consistent with the specified contact method.
 
virtual ChSystem::CustomCollisionCallbackGetCollisionCallback (ChTrackAssembly *track)=0
 Return the custom collision callback object. More...
 
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_gear
 handle to the sprocket gear body
 
std::shared_ptr< ChShaftm_axle
 handle to gear shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle
 handle to gear-shaft connector
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to sprocket revolute joint
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
ChSystem::CustomCollisionCallbackm_callback
 custom collision functor object
 
- 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.
 

Constructor & Destructor Documentation

◆ ChSprocket()

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

Member Function Documentation

◆ ApplyAxleTorque()

void chrono::vehicle::ChSprocket::ApplyAxleTorque ( double  torque)

Apply the provided motor torque.

The given torque is applied to the axle. This function provides the interface to the drivetrain subsystem (intermediated by the vehicle system).

Parameters
[in]torquevalue of applied torque

◆ ExportComponentList()

void chrono::vehicle::ChSprocket::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.

◆ GetAssemblyRadius()

virtual double chrono::vehicle::ChSprocket::GetAssemblyRadius ( ) const
pure virtual

Get the track assembly radius.

This quantity is used during the automatic track assembly. It represents a safe distance from the sprocket gear center at which the track shoes can be instantiated.

Implemented in chrono::vehicle::m113::M113_SprocketBand, chrono::vehicle::m113::M113_SprocketDoublePin, chrono::vehicle::m113::M113_SprocketSinglePin, chrono::vehicle::SprocketBand, chrono::vehicle::SprocketDoublePin, and chrono::vehicle::SprocketSinglePin.

◆ GetCollisionCallback()

virtual ChSystem::CustomCollisionCallback* chrono::vehicle::ChSprocket::GetCollisionCallback ( ChTrackAssembly track)
protectedpure virtual

Return the custom collision callback object.

Note that the derived need not delete this object (it is deleted in the destructor of this base class).

Parameters
[in]trackpointer to containing track assembly

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ GetProfile()

virtual std::shared_ptr<geometry::ChLinePath> chrono::vehicle::ChSprocket::GetProfile ( )
protectedpure virtual

Return the 2D gear profile.

The gear profile, a ChLinePath geometric object, is made up of an arbitrary number of sub-paths of type ChLineArc or ChLineSegment sub-lines. These must be added in clockwise order, and the end of sub-path i must be coincident with beginning of sub-path i+1.

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ Initialize()

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

Initialize this sprocket subsystem.

The sprocket 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).

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame
[in]trackpointer to containing track assembly

Reimplemented in chrono::vehicle::ChSprocketBand.


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