Description

Base class for a double-pin track shoe (template definition).

#include <ChTrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeDoublePin:
Collaboration diagram for chrono::vehicle::ChTrackShoeDoublePin:

Public Member Functions

 ChTrackShoeDoublePin (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
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 Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector<> &loc_connector_L, const ChVector<> &loc_connector_R, const ChQuaternion<> &rot_connector)
 Initialize this track shoe system. More...
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next, bool ccw) override
 Connect this track shoe to the specified neighbor. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the track shoe subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the track shoe subsystem.
 
- 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...
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
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 ChVector GetLateralContactPoint () const =0
 Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...
 
void SetCollide (bool val)
 Turn on/off collision flag for the shoe body.
 
- 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 GetShoeMass () const =0
 Return the mass of the shoe body.
 
virtual const ChVectorGetShoeInertia () const =0
 Return the moments of inertia of the shoe body.
 
virtual double GetShoeLength () const =0
 Return shoe length (distance between pins).
 
virtual double GetShoeWidth () const =0
 Return shoe width (separation between connectors).
 
virtual double GetConnectorMass () const =0
 Return the mass of a connector body.
 
virtual const ChVectorGetConnectorInertia () const =0
 Return the moments of inertia of a connector body.
 
virtual double GetConnectorLength () const =0
 Return the length of a connector body (distance between pins).
 
virtual double GetConnectorWidth () const =0
 Return the width of a connector body (for visualization only).
 
virtual double GetConnectorRadius () const =0
 Return the radius of a connector body.
 
virtual void CreateContactMaterials (ChContactMethod contact_method)=0
 Create the contact materials for the shoe and connector bodies, consistent with the specified contact method. More...
 
virtual void AddShoeContact ()
 Add contact geometry for the track shoe. More...
 
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::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...
 

Protected Attributes

std::shared_ptr< ChBodym_connector_L
 handle to left connector body
 
std::shared_ptr< ChBodym_connector_R
 handle to right connector body
 
std::shared_ptr< ChLinkLockRevolutem_revolute_L
 handle to shoe - left connector joint
 
std::shared_ptr< ChLinkLockRevolutem_revolute_R
 handle to shoe - right connector joint
 
std::vector< BoxShape > m_coll_boxes
 collision boxes on shoe body
 
std::vector< CylinderShape > m_coll_cylinders
 collision cylinders on shoe body
 
std::vector< std::shared_ptr< ChMaterialSurface > > m_shoe_materials
 contact materials for shoe collision shapes
 
std::shared_ptr< ChMaterialSurfacem_conn_material
 contact material for connector
 
std::vector< BoxShape > m_vis_boxes
 
std::vector< CylinderShape > m_vis_cylinders
 
- 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
 

Friends

class ChSprocketDoublePin
 
class SprocketDoublePinContactCB
 
class ChTrackAssemblyDoublePin
 

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.
 

Constructor & Destructor Documentation

◆ ChTrackShoeDoublePin()

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

Member Function Documentation

◆ AddShoeContact()

void chrono::vehicle::ChTrackShoeDoublePin::AddShoeContact ( )
protectedvirtual

Add contact geometry for the track shoe.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket. The default implementation uses contact boxes for the pad and central guiding pin.

◆ Connect()

void chrono::vehicle::ChTrackShoeDoublePin::Connect ( std::shared_ptr< ChTrackShoe next,
bool  ccw 
)
overridevirtual

Connect this track shoe to the specified neighbor.

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

Parameters
[in]nexthandle to the neighbor track shoe
[in]ccwtrack assembled in counter clockwise direction

Implements chrono::vehicle::ChTrackShoe.

◆ CreateContactMaterials()

virtual void chrono::vehicle::ChTrackShoeDoublePin::CreateContactMaterials ( ChContactMethod  contact_method)
protectedpure virtual

Create the contact materials for the shoe and connector bodies, consistent with the specified contact method.

A derived class must set m_conn_material (used for contact with the sprocket) and m_shoe_materials which must include one or more contact materials for the collision shapes of the shoe itself (for contact with the wheels, idler, and ground).

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeDoublePin::ExportComponentList ( rapidjson::Document &  jsonDocument) const
overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

◆ GetPitch()

double chrono::vehicle::ChTrackShoeDoublePin::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.

◆ Initialize() [1/2]

void chrono::vehicle::ChTrackShoeDoublePin::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  loc_shoe,
const ChQuaternion<> &  rot_shoe,
const ChVector<> &  loc_connector_L,
const ChVector<> &  loc_connector_R,
const ChQuaternion<> &  rot_connector 
)

Initialize this track shoe system.

This version specifies the locations and orientations of the shoe body and of the connector bodies (relative to the chassis frame).

Parameters
[in]chassishandle to chassis body
[in]loc_shoelocation of shoe body
[in]rot_shoeorientation of shoe body
[in]loc_connector_Llocation of left connector body
[in]loc_connector_Rlocation of right connector body
[in]rot_connectororientation of connector bodies

◆ Initialize() [2/2]

void chrono::vehicle::ChTrackShoeDoublePin::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 double-pin 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.


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