chrono::vehicle::m113::M113_SprocketBandLeft Class Reference

Description

M113 sprocket subsystem for continuous band track (left side).

#include <M113_SprocketBand.h>

Inheritance diagram for chrono::vehicle::m113::M113_SprocketBandLeft:
Collaboration diagram for chrono::vehicle::m113::M113_SprocketBandLeft:

Public Member Functions

virtual std::string GetMeshName () const override
 
virtual std::string GetMeshFile () const override
 
- Public Member Functions inherited from chrono::vehicle::m113::M113_SprocketBand
virtual int GetNumTeeth () const override
 Get the number of teeth of the gear.
 
virtual double GetAssemblyRadius () const override
 Get the radius of the gear. More...
 
virtual double GetGearMass () const override
 Return the mass of the gear body.
 
virtual const ChVectorGetGearInertia () override
 Return the moments of inertia of the gear body.
 
virtual double GetAxleInertia () const override
 Return the inertia of the axle shaft.
 
virtual double GetSeparation () const override
 Return the distance between the two gear profiles.
 
virtual double GetOuterRadius () const override
 Return the radius of the addendum circle.
 
virtual double GetBaseWidth () const override
 Return the base width of the sprocket profile length of the chord where the tooth profile meets the sprocket's outer radius.
 
virtual double GetTipWidth () const override
 Return the width of the inner tip of the sprocket profile.
 
virtual double GetToothDepth () const override
 Return the depth of the sprocket profile measured as the distance from the center of the profile tip line to the center of the base width line.
 
virtual double GetArcRadius () const override
 Return the radius of the (concave) tooth circular arc.
 
virtual double GetGuideWheelWidth () const override
 Return the total width of the sprocket guiding wheel that acts similar to another road wheel.
 
virtual double GetGuideWheelGap () const override
 Return the gap width of the sprocket guiding wheel that acts similar to another road wheel.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization of the sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChSprocketBand
 ChSprocketBand (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, ChTrackAssembly *track) override
 Initialize this sprocket subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the sprocket subsystem.
 
virtual std::shared_ptr< geometry::ChLinePathGetProfile () override
 Return the 2D gear profile. More...
 
virtual ChSystem::CustomCollisionCallbackGetCollisionCallback (ChTrackAssembly *track) override
 Return the custom collision callback object. More...
 
- Public Member Functions inherited from chrono::vehicle::ChSprocket
 ChSprocket (const std::string &name)
 
std::shared_ptr< ChBodyGetGearBody () const
 Get a handle to the gear body.
 
std::shared_ptr< ChShaftGetAxle () const
 Get a handle to the axle shaft.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
double GetAxleSpeed () const
 Get the angular speed of the axle.
 
void SetCollide (bool val)
 Turn on/off collision flag for the gear wheel.
 
virtual double GetMass () const
 Get the mass of the sprocket subsystem.
 
void ApplyAxleTorque (double torque)
 Apply the provided motor torque. More...
 
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.
 

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::m113::M113_SprocketBand
 M113_SprocketBand (const std::string &name)
 
- Protected Member Functions inherited from chrono::vehicle::ChSprocket
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...
 
- 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::ChSprocket
std::shared_ptr< ChBodym_gear
 handle to the sprocket gear body
 
std::shared_ptr< ChShaftm_axle
 handle to gear shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle
 handle to gear-shaft connector
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to sprocket revolute joint
 
ChSystem::CustomCollisionCallbackm_callback
 custom collision functor object
 
- 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 inherited from chrono::vehicle::m113::M113_SprocketBand
static const int m_num_teeth = 17
 
static const double m_gear_mass = 27.68
 
static const ChVector m_gear_inertia
 
static const double m_axle_inertia = 0.02
 
static const double m_separation = 0.278
 
static const double m_gear_outer_radius = 0.2307 * 1.04
 
static const double m_gear_base_width = 0.0530 * 1.04
 
static const double m_gear_tip_width = 0.0128 * 1.04
 
static const double m_gear_tooth_depth = 0.0387 * 1.04
 
static const double m_gear_arc_radius = 0.0542 * 1.04
 
static const double m_gear_RA = 0.2307 * 1.04
 
static const double m_gear_guide_wheel_width = 0.181
 
static const double m_gear_guide_wheel_gap = 0.051