Description

Base class for a track shoe.

#include <ChTrackShoe.h>

Inheritance diagram for chrono::vehicle::ChTrackShoe:
Collaboration diagram for chrono::vehicle::ChTrackShoe:

Public Member Functions

 ChTrackShoe (const std::string &name)
 
virtual GuidePinType GetType () const =0
 Return the type of track shoe (guiding pin). More...
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get a handle to the shoe body.
 
virtual double GetHeight () const =0
 Return the height of the track shoe.
 
virtual double GetPitch () const =0
 Return the pitch length of the track shoe. More...
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
virtual double GetMass () const =0
 Get the mass of the track shoe assembly.
 
void SetCollide (bool val)
 Turn on/off collision flag for the shoe body.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation)=0
 Initialize this track shoe subsystem. More...
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next)=0
 Connect this track shoe to the specified neighbor. More...
 
- 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.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

void SetIndex (size_t index)
 Set the index of this track shoe within its containing track assembly.
 
- 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

size_t m_index
 index of this track shoe within its containing track assembly
 
std::shared_ptr< ChBodym_shoe
 handle to the shoe body
 
- 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
 

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< 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::ChTrackShoe::ChTrackShoe ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

virtual void chrono::vehicle::ChTrackShoe::Connect ( std::shared_ptr< ChTrackShoe next)
pure virtual

Connect this track shoe to the specified neighbor.

This function must be called only after all track shoes have been initialized.

Parameters
[in]nexthandle to the neighbor track shoe

Implemented in chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeSinglePin, and chrono::vehicle::ChTrackShoeBandBushing.

virtual double chrono::vehicle::ChTrackShoe::GetPitch ( ) const
pure virtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implemented in chrono::vehicle::ChTrackShoeBand, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::ChTrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

virtual GuidePinType chrono::vehicle::ChTrackShoe::GetType ( ) const
pure virtual

Return the type of track shoe (guiding pin).

A derived class must specify the type of track shoe (which must be consistent with the idler and road wheels in the containing track assembly.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::m113::M113_TrackShoeDoublePin, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::TrackShoeBandANCF, chrono::vehicle::TrackShoeBandBushing, chrono::vehicle::TrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

virtual void chrono::vehicle::ChTrackShoe::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location,
const ChQuaternion<> &  rotation 
)
pure virtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). All actual work is deferred to derived classes (subsystem templates) which must create the bodies, joints, etc.

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

Implemented in chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeBand, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeSinglePin, and chrono::vehicle::ChTrackShoeBandBushing.