Description

Idler and tensioner model for the M113 vehicle (base class).

#include <M113_Idler.h>

Inheritance diagram for chrono::vehicle::m113::M113_Idler:
Collaboration diagram for chrono::vehicle::m113::M113_Idler:

Public Member Functions

virtual const ChVector GetLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual double GetWheelMass () const override
 Return the mass of the idler wheel body.
 
virtual const ChVectorGetWheelInertia () override
 Return the moments of inertia of the idler wheel body.
 
virtual double GetWheelRadius () const override
 Return the radius of the idler wheel.
 
virtual double GetWheelWidth () const override
 Return the total width of the idler wheel.
 
virtual double GetWheelGap () const override
 Return the gap width.
 
virtual double GetCarrierMass () const override
 Return the mass of the carrier body.
 
virtual const ChVectorGetCarrierInertia () override
 Return the moments of inertia of the carrier body.
 
virtual double GetCarrierVisRadius () const override
 Return a visualization radius for the carrier body.
 
virtual double GetPrismaticPitchAngle () const override
 Return the pitch angle of the prismatic joint.
 
virtual ChLinkSpringCB::ForceFunctorGetTensionerForceCallback () const override
 Return the functor object for spring force.
 
virtual double GetTensionerFreeLength () const override
 Return the free length for the tensioner spring.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChDoubleIdler
 ChDoubleIdler (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual GuidePinType GetType () const finaloverride
 Return the type of track shoe consistent with this idler.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override
 Initialize this idler subsystem. More...
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChIdler
 ChIdler (const std::string &name)
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
void SetCollide (bool val)
 Turn on/off collision flag for the idler wheel.
 
virtual double GetMass () const
 Get the mass of the idler subsystem.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- 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.
 

Protected Member Functions

 M113_Idler (const std::string &name)
 
virtual VehicleSide GetVehicleSide () const =0
 
virtual std::string GetMeshName () const =0
 
virtual std::string GetMeshFile () const =0
 
- Protected Member Functions inherited from chrono::vehicle::ChIdler
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::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

ChLinkSpringCB::ForceFunctorm_tensionerForceCB
 
- Protected Attributes inherited from chrono::vehicle::ChIdler
std::shared_ptr< ChBodym_wheel
 handle to the idler wheel body
 
std::shared_ptr< ChBodym_carrier
 handle to the carrier body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to wheel-carrier revolute joint
 
std::shared_ptr< ChLinkLockPrismaticm_prismatic
 handle to carrier-chassis translational joint
 
std::shared_ptr< ChLinkSpringCBm_tensioner
 handle to the TSDA tensioner element
 
- 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
 

Static Protected Attributes

static const double m_wheel_mass = 25.76
 
static const ChVector m_wheel_inertia
 
static const double m_wheel_radius = 0.255
 
static const double m_wheel_width = 0.181
 
static const double m_wheel_gap = 0.051
 
static const double m_carrier_mass = 10
 
static const ChVector m_carrier_inertia
 
static const double m_carrier_radius = 0.02
 
static const double m_tensioner_l0 = 0.75
 
static const double m_tensioner_k = 1e6
 
static const double m_tensioner_c = 1.4e4
 
static const double m_tensioner_f = 2e4
 

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 Types inherited from chrono::vehicle::ChIdler
enum  PointId {
  WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER,
  TSDA_CHASSIS, NUM_POINTS
}
 Identifiers for the various hardpoints. 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< 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.
 

Member Function Documentation

const ChVector chrono::vehicle::m113::M113_Idler::GetLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

Implements chrono::vehicle::ChIdler.