chrono::vehicle::TrackShoeBandBushing Class Reference

Description

Band-bushing track shoe with central guide constructed with data from file (JSON format).

#include <TrackShoeBandBushing.h>

Inheritance diagram for chrono::vehicle::TrackShoeBandBushing:
Collaboration diagram for chrono::vehicle::TrackShoeBandBushing:

Public Member Functions

 TrackShoeBandBushing (const std::string &filename)
 
 TrackShoeBandBushing (const rapidjson::Document &d)
 
virtual GuidePinType GetType () const finaloverride
 Return the type of track shoe (guiding pin). More...
 
virtual double GetHeight () const override
 Return the height of the track shoe.
 
virtual double GetTreadMass () const override
 Return the mass of the tread body.
 
virtual double GetWebMass () const override
 Return the mass of the web. More...
 
virtual const ChVectorGetTreadInertia () const override
 Return the moments of inertia of the tread body.
 
virtual const ChVectorGetWebInertia () const override
 Return the moments of inertia of the web. More...
 
virtual const ChVectorGetGuideBoxDimensions () const override
 Return the dimensions of the contact box for the guiding pin. More...
 
virtual double GetGuideBoxOffsetX () const override
 Return the offset (in X direction) of the guiding pin.
 
virtual double GetBeltWidth () const override
 Return belt geometry parameters.
 
virtual double GetToothTipLength () const override
 Return the length of the flat tip of the tread tooth tip (in the X direction)
 
virtual double GetToothBaseLength () const override
 Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends.
 
virtual double GetToothWidth () const override
 Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction)
 
virtual double GetToothHeight () const override
 Return the height from the base to the tip of the tread tooth profile (in the Z direction)
 
virtual double GetToothArcRadius () const override
 Return the radius of the tooth profile arc that connects the tooth tip and base lines.
 
virtual int GetNumWebSegments () const override
 Return the number of segments that the web section is broken up into.
 
virtual double GetWebLength () const override
 Return the combined length of all of the web sections (in the X direction)
 
virtual double GetWebThickness () const override
 Return the thickness of the web section (in the Z direction)
 
virtual double GetTreadLength () const override
 Return the length of the tread below the web area (in the X direction, tread pad for ground contact)
 
virtual double GetTreadThickness () const override
 Return the thickness of the tread below the web area (tread pad for ground contact)
 
virtual const std::string & GetTreadVisualizationMeshName () const override
 Specify the name assigned to the procedurally-generated tread body visualization mesh.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeBandBushing
 ChTrackShoeBandBushing (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next) override
 Connect this track shoe to the specified neighbor. More...
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeBand
 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...
 
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)
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get a handle to the shoe body.
 
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.
 
- 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.
 
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.
 

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 Member Functions inherited from chrono::vehicle::ChTrackShoeBandBushing
double GetWebSegmentLength ()
 Return the length of just one of the web sections (in the X direction).
 
std::shared_ptr< ChBodyGetWebSegment (size_t index)
 Return a pointer to the web segment body with the provided index.
 
void SetBushingParameters (double Klin, double Krot_dof, double Krot_other, double Dlin, double Drot_dof, double Drot_other)
 Set bushing stiffness and damping information. More...
 
virtual void AddWebContact (std::shared_ptr< ChBody > segment)
 Add contact geometry for a web segment body.
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoeBand
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.
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTrackShoeBand
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.
 
- 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
 

Member Function Documentation

virtual const ChVector& chrono::vehicle::TrackShoeBandBushing::GetGuideBoxDimensions ( ) const
overridevirtual

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.

Implements chrono::vehicle::ChTrackShoeBand.

virtual GuidePinType chrono::vehicle::TrackShoeBandBushing::GetType ( ) const
finaloverridevirtual

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.

Implements chrono::vehicle::ChTrackShoe.

virtual const ChVector& chrono::vehicle::TrackShoeBandBushing::GetWebInertia ( ) const
overridevirtual

Return the moments of inertia of the web.

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

Implements chrono::vehicle::ChTrackShoeBand.

virtual double chrono::vehicle::TrackShoeBandBushing::GetWebMass ( ) const
overridevirtual

Return the mass of the web.

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

Implements chrono::vehicle::ChTrackShoeBand.