Description

Base class for continuous band track shoes using rigid treads.

Derived classes specify actual template definitions, using different models for the track web.

#include <ChTrackShoeBand.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeBand:
Collaboration diagram for chrono::vehicle::ChTrackShoeBand:

Public Member Functions

 ChTrackShoeBand (const std::string &name)
 
virtual double GetMass () const override
 Get the mass of the track shoe.
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
void WriteTreadVisualizationMesh (const std::string &out_dir)
 Write the procedurally-generated tread body visualization mesh to a Wavefront OBJ file.
 
void ExportTreadVisualizationMeshPovray (const std::string &out_dir)
 Export the procedurally-generated tread body visualization mesh as a macro in a PovRay include file.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoe
 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.
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
void SetCollide (bool val)
 Turn on/off collision flag for the shoe body.
 
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

virtual double GetTreadMass () const =0
 Return the mass of the tread body.
 
virtual double GetWebMass () const =0
 Return the mass of the web. More...
 
virtual const ChVectorGetTreadInertia () const =0
 Return the moments of inertia of the tread body.
 
virtual const ChVectorGetWebInertia () const =0
 Return the moments of inertia of the web. More...
 
virtual const ChVectorGetGuideBoxDimensions () const =0
 Return the dimensions of the contact box for the guiding pin. More...
 
virtual double GetGuideBoxOffsetX () const =0
 Return the offset (in X direction) of the guiding pin.
 
virtual double GetBeltWidth () const =0
 Return the width of the CB track belt (in the Y direction)
 
virtual double GetToothTipLength () const =0
 Return the length of the flat tip of the tread tooth tip (in the X direction)
 
virtual double GetToothBaseLength () const =0
 Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends.
 
virtual double GetToothWidth () const =0
 Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction)
 
virtual double GetToothHeight () const =0
 Return the height from the base to the tip of the tread tooth profile (in the Z direction)
 
virtual double GetToothArcRadius () const =0
 Return the radius of the tooth profile arc that connects the tooth tip and base lines.
 
virtual double GetWebLength () const =0
 Return the combined length of all of the web sections (in the X direction)
 
virtual double GetWebThickness () const =0
 Return the thickness of the web section (in the Z direction)
 
virtual double GetTreadLength () const =0
 Return the length of the tread below the web area (in the X direction, tread pad for ground contact)
 
virtual double GetTreadThickness () const =0
 Return the thickness of the tread below the web area (tread pad for ground contact)
 
virtual const std::string & GetTreadVisualizationMeshName () const =0
 Specify the name assigned to the procedurally-generated tread body visualization mesh.
 
void AddShoeContact ()
 Add contact geometry for the tread body. More...
 
void AddShoeVisualization ()
 Add visualization of the tread body, based on primitives corresponding to the contact shapes. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
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...
 

Static Protected Member Functions

static ChColor GetColor (size_t index)
 Get index-specific color (for visualization)
 
- 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.
 

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

Constructor & Destructor Documentation

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

Member Function Documentation

void chrono::vehicle::ChTrackShoeBand::AddShoeContact ( )
protected

Add contact geometry for the tread body.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

void chrono::vehicle::ChTrackShoeBand::AddShoeVisualization ( )
protected

Add visualization of the tread body, based on primitives corresponding to the contact shapes.

Note that the "primitive" shape for the tread body is a procedurally-generated mesh.

virtual const ChVector& chrono::vehicle::ChTrackShoeBand::GetGuideBoxDimensions ( ) const
protectedpure virtual

Return the dimensions of the contact box for the guiding pin.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandBushing.

double chrono::vehicle::ChTrackShoeBand::GetPitch ( ) const
overridevirtual

Return the pitch length of the track shoe.

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

Implements chrono::vehicle::ChTrackShoe.

virtual const ChVector& chrono::vehicle::ChTrackShoeBand::GetWebInertia ( ) const
protectedpure virtual

Return the moments of inertia of the web.

These will be distributed over the specified number of web segments.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandBushing.

virtual double chrono::vehicle::ChTrackShoeBand::GetWebMass ( ) const
protectedpure virtual

Return the mass of the web.

This will be equally distributed over the specified number of web segments.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandBushing.

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

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). This version initializes the bodies of a CB rigid-link track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

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

Implements chrono::vehicle::ChTrackShoe.

Reimplemented in chrono::vehicle::ChTrackShoeBandANCF, and chrono::vehicle::ChTrackShoeBandBushing.