Description

Base class for a sprocket template with gear profile composed of circular arcs and a flat seat.

This sprocket type is suitable for interaction with a continuous band track.

#include <ChSprocketBand.h>

Inheritance diagram for chrono::vehicle::ChSprocketBand:
Collaboration diagram for chrono::vehicle::ChSprocketBand:

Public Member Functions

 ChSprocketBand (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, ChTrackAssembly *track) override
 Initialize this sprocket subsystem. 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.
 
virtual std::shared_ptr< geometry::ChLinePathGetProfile () override
 Return the 2D gear profile. More...
 
virtual ChSystem::CustomCollisionCallbackGetCollisionCallback (ChTrackAssembly *track) override
 Return the custom collision callback object. More...
 
- Public Member Functions inherited from chrono::vehicle::ChSprocket
 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.
 
void ApplyAxleTorque (double torque)
 Apply the provided motor torque. 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.
 
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 GetOuterRadius () const =0
 Return the radius of the outer sprocket circle.
 
virtual double GetBaseWidth () const =0
 Return the base width of the sprocket profile length of the chord where the tooth profile meets the sprocket's outer radius.
 
virtual double GetTipWidth () const =0
 Return the width of the inner tip of the sprocket profile.
 
virtual double GetToothDepth () const =0
 Return the depth of the sprocket profile measured as the distance from the center of the profile tip line to the center of the base width line.
 
virtual double GetArcRadius () const =0
 Return the radius of the (concave) tooth circular arcs.
 
virtual double GetGuideWheelWidth () const =0
 Return the total width of the sprocket guiding wheel that acts similar to another road wheel.
 
virtual double GetGuideWheelGap () const =0
 Return the gap width of the sprocket guiding wheel that acts similar to another road wheel.
 
- Protected Member Functions inherited from chrono::vehicle::ChSprocket
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 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...
 

Friends

class SprocketBandContactCB
 

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.
 
- Protected Attributes inherited from chrono::vehicle::ChSprocket
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
 

Constructor & Destructor Documentation

◆ ChSprocketBand()

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

Member Function Documentation

◆ GetCollisionCallback()

ChSystem::CustomCollisionCallback * chrono::vehicle::ChSprocketBand::GetCollisionCallback ( ChTrackAssembly track)
overridevirtual

Return the custom collision callback object.

Parameters
[in]trackpointer to containing track assembly

Implements chrono::vehicle::ChSprocket.

◆ GetProfile()

std::shared_ptr< geometry::ChLinePath > chrono::vehicle::ChSprocketBand::GetProfile ( )
overridevirtual

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.

Implements chrono::vehicle::ChSprocket.

◆ Initialize()

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

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 from chrono::vehicle::ChSprocket.


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