Description

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

This sprocket type is suitable for interaction with single-pin track shoes.

#include <ChSprocketSinglePin.h>

Inheritance diagram for chrono::vehicle::ChSprocketSinglePin:
Collaboration diagram for chrono::vehicle::ChSprocketSinglePin:

Public Member Functions

 ChSprocketSinglePin (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual std::shared_ptr< geometry::ChLinePathGetProfile () override
 Return the 2D gear profile. More...
 
virtual std::shared_ptr< 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 DisableLateralContact ()
 Disable lateral contact for preventing detracking (default: enabled).
 
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.
 
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 addendum circle.
 
virtual double GetArcRadius () const =0
 Return the radius of the (concave) tooth circular arc.
 
virtual double GetArcCentersRadius () const =0
 Return the radius of the tooth arc centers.
 
- 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 double GetLateralBacklash () const =0
 Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking).
 
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...
 

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;
 
bool m_lateral_contact
 if 'true', enable lateral conatact to prevent detracking
 
- 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

◆ ChSprocketSinglePin()

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

Member Function Documentation

◆ GetCollisionCallback()

std::shared_ptr< ChSystem::CustomCollisionCallback > chrono::vehicle::ChSprocketSinglePin::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::ChSprocketSinglePin::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.


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