Description

Definition of a continuous band track assembly.

A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. This is the base class for continuous band track assembly using rigid tread. Derived classes specify the actual template defintions, using different track shoes.

#include <ChTrackAssemblyBand.h>

Inheritance diagram for chrono::vehicle::ChTrackAssemblyBand:
Collaboration diagram for chrono::vehicle::ChTrackAssemblyBand:

Public Member Functions

 ChTrackAssemblyBand (const std::string &name, VehicleSide side)
 
virtual std::shared_ptr< ChSprocketGetSprocket () const override
 Get a handle to the sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackAssembly
VehicleSide GetVehicleSide () const
 Return the vehicle side for this track assembly.
 
size_t GetNumRoadWheelAssemblies () const
 Get the number of suspensions.
 
size_t GetNumRollers () const
 Get the number of rollers.
 
virtual size_t GetNumTrackShoes () const =0
 Get the number of track shoes.
 
std::shared_ptr< ChIdlerGetIdler () const
 Get a handle to the idler subsystem.
 
std::shared_ptr< ChTrackBrakeGetBrake () const
 Get a handle to the brake subsystem.
 
std::shared_ptr< ChRoadWheelAssemblyGetRoadWheelAssembly (size_t id) const
 Get a handle to the specified suspension subsystem.
 
std::shared_ptr< ChRollerGetRoller (size_t id) const
 Get a handle to the specified roller subsystem.
 
std::shared_ptr< ChRoadWheelGetRoadWheel (size_t id) const
 Get a handle to the specified road wheel subsystem.
 
virtual std::shared_ptr< ChTrackShoeGetTrackShoe (size_t id) const =0
 Get a handle to the specified track shoe subsystem.
 
const ChVectorGetTrackShoePos (size_t id) const
 Get the global location of the specified track shoe. More...
 
const ChQuaternionGetTrackShoeRot (size_t id) const
 Get the orientation of the specified track shoe. More...
 
const ChVectorGetTrackShoeLinVel (size_t id) const
 Get the linear velocity of the specified track shoe. More...
 
ChVector GetTrackShoeAngVel (size_t id) const
 Get the angular velocity of the specified track shoe. More...
 
BodyState GetTrackShoeState (size_t id) const
 Get the complete state for the specified track shoe. More...
 
void GetTrackShoeStates (BodyStates &states) const
 Get the complete states for all track shoes. More...
 
double GetMass () const
 Get the total mass of the track assembly. More...
 
virtual const ChVector GetSprocketLocation () const =0
 Get the relative location of the sprocket subsystem. More...
 
virtual const ChVector GetIdlerLocation () const =0
 Get the relative location of the idler subsystem. More...
 
virtual const ChVector GetRoadWhelAssemblyLocation (int which) const =0
 Get the relative location of the specified suspension subsystem. More...
 
virtual const ChVector GetRollerLocation (int which) const
 Get the relative location of the specified roller subsystem. More...
 
void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, bool create_shoes=true)
 Initialize this track assembly subsystem. More...
 
void SetSprocketVisualizationType (VisualizationType vis)
 Set visualization type for the sprocket subsystem.
 
void SetIdlerVisualizationType (VisualizationType vis)
 
void SetRoadWheelAssemblyVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystems.
 
void SetRoadWheelVisualizationType (VisualizationType vis)
 Set visualization type for the road-wheel subsystems.
 
void SetRollerVisualizationType (VisualizationType vis)
 Set visualization type for the roller subsystems.
 
void SetTrackShoeVisualizationType (VisualizationType vis)
 Set visualization type for the track shoe subsystems.
 
void Synchronize (double time, double braking, const TerrainForces &shoe_forces)
 Update the state of this track assembly at the current time. More...
 
virtual void SetOutput (bool state) override
 Enable/disable output for this 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 AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
 
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
 
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
 
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
 
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
 
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
 
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
 
float GetKn () const
 Get normal stiffness coefficient for contact material.
 
float GetKt () const
 Get tangential stiffness coefficient for contact material.
 
float GetGn () const
 Get normal viscous damping coefficient for contact material.
 
float GetGt () const
 Get tangential viscous damping coefficient for contact material.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Member Functions

bool FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2<>> &shoe_points)
 Assembly Algorithm Utility Functions.
 
void FindCircleTangentPoints (ChVector2<> Circle1Pos, double Circle1Rad, ChVector2<> Circle2Pos, double Circle2Rad, ChVector2<> &Tan1Pnt1, ChVector2<> &Tan1Pnt2, ChVector2<> &Tan2Pnt1, ChVector2<> &Tan2Pnt2)
 
void CheckCircleCircle (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius)
 
void CheckCircleLine (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius)
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly
 ChTrackAssembly (const std::string &name, VehicleSide side)
 
virtual bool Assemble (std::shared_ptr< ChBodyAuxRef > chassis)=0
 Assemble track shoes over wheels. More...
 
virtual void RemoveTrackShoes ()=0
 Remove all track shoes from assembly.
 
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< ChSprocketBandm_sprocket
 sprocket subsystem
 
double m_sprocket_offset
 
- Protected Attributes inherited from chrono::vehicle::ChTrackAssembly
VehicleSide m_side
 assembly on left/right vehicle side
 
std::shared_ptr< ChIdlerm_idler
 idler (and tensioner) subsystem
 
std::shared_ptr< ChTrackBrakem_brake
 sprocket brake
 
ChRoadWheelAssemblyList m_suspensions
 road-wheel assemblies
 
ChRollerList m_rollers
 roller subsystems
 
- 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
 
float m_friction
 contact coefficient of friction
 
float m_restitution
 contact coefficient of restitution
 
float m_young_modulus
 contact material Young modulus
 
float m_poisson_ratio
 contact material Poisson ratio
 
float m_kn
 normal contact stiffness
 
float m_gn
 normal contact damping
 
float m_kt
 tangential contact stiffness
 
float m_gt
 tangential contact damping
 

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< ChLinkSpringCB >> 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

chrono::vehicle::ChTrackAssemblyBand::ChTrackAssemblyBand ( const std::string &  name,
VehicleSide  side 
)
Parameters
[in]namename of the subsystem
[in]sideassembly on left/right vehicle side

Member Function Documentation

void chrono::vehicle::ChTrackAssemblyBand::CheckCircleCircle ( bool &  found,
ChVector2<> &  Point,
ChMatrixDynamic<> &  Features,
int  FeatureIdx,
ChVector2<> &  StartingPoint,
double  Radius 
)
protected
Parameters
foundDoes an intersection point exist between the circle formed by StartingPoint and Radius with the current circle belt feature
PointIntersection Point, if it exists between the circle formed by StartingPoint and Radius with the current circle belt feature
FeaturesTable with the tagent or arc information for the entire belt wrap
FeatureIdxCurrent belt feature to check the intersection of
StartingPointCurrent Point on the belt wrap
RadiusLength of the current belt segment that needs to be placed on the belt wrap
void chrono::vehicle::ChTrackAssemblyBand::CheckCircleLine ( bool &  found,
ChVector2<> &  Point,
ChMatrixDynamic<> &  Features,
int  FeatureIdx,
ChVector2<> &  StartingPoint,
double  Radius 
)
protected
Parameters
foundDoes an intersection point exist between the circle formed by StartingPoint and Radius with the current circle belt feature
PointIntersection Point, if it exists between the circle formed by StartingPoint and Radius with the current circle belt feature
FeaturesTable with the tagent or arc information for the entire belt wrap
FeatureIdxCurrent belt feature to check the intersection of
StartingPointCurrent Point on the belt wrap
RadiusLength of the current belt segment that needs to be placed on the belt wrap
void chrono::vehicle::ChTrackAssemblyBand::FindCircleTangentPoints ( ChVector2<>  Circle1Pos,
double  Circle1Rad,
ChVector2<>  Circle2Pos,
double  Circle2Rad,
ChVector2<> &  Tan1Pnt1,
ChVector2<> &  Tan1Pnt2,
ChVector2<> &  Tan2Pnt1,
ChVector2<> &  Tan2Pnt2 
)
protected
Parameters
Circle1PosCenter Position of Circle 1
Circle1RadRadius of Circle 1
Circle2PosCenter Position of Circle 2
Circle2RadRadius of Circle 2
Tan1Pnt1Point on Circle 1 for the first calculated outside tangent
Tan1Pnt2Point on Circle 2 for the first calculated outside tangent
Tan2Pnt1Point on Circle 1 for the second calculated outside tangent
Tan2Pnt2Point on Circle 2 for the second calculated outside tangent