Description

Base class for segmented track shoes.

These are track shoes modeled with one or more rigid bodies connected through joints and/or bushings.

#include <ChTrackShoeSegmented.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeSegmented:
Collaboration diagram for chrono::vehicle::ChTrackShoeSegmented:

Classes

struct  BoxShape
 Definition of a box shape for collision or visualization. More...
 
struct  CylinderShape
 Definition of a cylinder shape for collision or visualization. More...
 

Public Member Functions

std::shared_ptr< ChMaterialSurfaceGetSprocketContactMaterial () const
 Get the contact material for the track shoe part interacting with the sprocket.
 
- 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 double GetPitch () const =0
 Return the pitch length of the track shoe. More...
 
virtual double GetMass () const =0
 Get the mass of the track shoe assembly.
 
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.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation)=0
 Initialize this track shoe subsystem. 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.
 
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

 ChTrackShoeSegmented (const std::string &name)
 
virtual void CreateContactMaterials (ChContactMethod contact_method)=0
 Create the contact materials for the shoe, consistent with the specified contact method. More...
 
virtual void AddShoeContact ()
 Add contact geometry for the track shoe. More...
 
void AddShoeVisualization ()
 Add visualization assets for the track-shoe subsystem. 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.
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next, ChTrackAssembly *assembly, bool ccw)=0
 Connect this track shoe to the specified neighbor. More...
 
- 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::vector< BoxShapem_coll_boxes
 collision boxes on shoe body
 
std::vector< CylinderShapem_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_shoe_sprk_material
 contact material for shoe shape contacting sprocket
 
std::vector< BoxShapem_vis_boxes
 visualization boxes for shoe body
 
std::vector< CylinderShapem_vis_cylinders
 visualization cylinders for shoe body
 
- 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
 

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.
 

Member Function Documentation

◆ AddShoeContact()

void chrono::vehicle::ChTrackShoeSegmented::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 the given collision boxes and cylinders for the main track shoe body.

◆ AddShoeVisualization()

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

Add visualization assets for the track-shoe subsystem.

This function uses the given visualization boxes and cylinders for the main track shoe body.

◆ CreateContactMaterials()

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

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

A derived class must set m_shoe_sprk_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).


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