Description

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

A single-pin track shoe can be either of CENTRAL_PIN or LATERAL_PIN type.

#include <ChTrackShoeSinglePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeSinglePin:
Collaboration diagram for chrono::vehicle::ChTrackShoeSinglePin:

Public Member Functions

 ChTrackShoeSinglePin (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 void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. 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::ChTrackShoeSegmented
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 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 GetFrontCylinderLoc () const =0
 Return the location of the front contact cylinder. More...
 
virtual double GetRearCylinderLoc () const =0
 Return the location of the rear contact cylinder. More...
 
virtual double GetCylinderRadius () const =0
 Return the radius of the contact cylinders.
 
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::ChTrackShoeSegmented
 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.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Friends

class ChSprocketSinglePin
 
class SprocketSinglePinContactCB
 
class ChTrackAssemblySinglePin
 

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

Constructor & Destructor Documentation

◆ ChTrackShoeSinglePin()

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

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeSinglePin::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.

◆ GetFrontCylinderLoc()

virtual double chrono::vehicle::ChTrackShoeSinglePin::GetFrontCylinderLoc ( ) const
protectedpure virtual

Return the location of the front contact cylinder.

This location is relative to the shoe reference frame (in the positive x direction)

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

◆ GetRearCylinderLoc()

virtual double chrono::vehicle::ChTrackShoeSinglePin::GetRearCylinderLoc ( ) const
protectedpure virtual

Return the location of the rear contact cylinder.

This location is relative to the shoe reference frame (in the negative x direction)

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

◆ Initialize()

void chrono::vehicle::ChTrackShoeSinglePin::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). A derived class must extend this default implementation and specify the contact geometry for the track shoe body.

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/ChTrackShoeSinglePin.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeSinglePin.cpp