chrono::vehicle::m113::M113_TrackAssemblyBandANCF Class Reference

Description

M113 continuous band track assembly subsystem using rigid-link track shoes.

#include <M113_TrackAssemblyBandANCF.h>

Inheritance diagram for chrono::vehicle::m113::M113_TrackAssemblyBandANCF:
Collaboration diagram for chrono::vehicle::m113::M113_TrackAssemblyBandANCF:

Public Member Functions

 M113_TrackAssemblyBandANCF (VehicleSide side)
 
virtual const ChVector GetSprocketLocation () const override
 Get the relative location of the sprocket subsystem. More...
 
virtual const ChVector GetIdlerLocation () const override
 Get the relative location of the idler subsystem. More...
 
virtual const ChVector GetRoadWhelAssemblyLocation (int which) const override
 Get the relative location of the specified suspension subsystem. More...
 
- Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyBandANCF
 ChTrackAssemblyBandANCF (const std::string &name, VehicleSide side)
 Construct an ANCFshell-based track assembly on the specified vehicle side. More...
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
void SetContactSurfaceType (ContactSurfaceType type)
 Set the type of contact surface (default: TRIANGLE_MESH).
 
virtual size_t GetNumTrackShoes () const override
 Get the number of track shoes.
 
virtual std::shared_ptr< ChTrackShoeGetTrackShoe (size_t id) const override
 Get a handle to the specified track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand
 ChTrackAssemblyBand (const std::string &name, VehicleSide side)
 
virtual std::shared_ptr< ChSprocketGetSprocket () const override
 Get a handle to the sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackAssembly
VehicleSide GetVehicleSide () const
 Return the vehicle side for this track assembly.
 
size_t GetNumRoadWheelAssemblies () const
 Get the number of suspensions.
 
size_t GetNumRollers () const
 Get the number of rollers.
 
std::shared_ptr< ChIdlerGetIdler () const
 Get a handle to the idler subsystem.
 
std::shared_ptr< ChTrackBrakeGetBrake () const
 Get a handle to the brake subsystem.
 
std::shared_ptr< ChRoadWheelAssemblyGetRoadWheelAssembly (size_t id) const
 Get a handle to the specified suspension subsystem.
 
std::shared_ptr< ChRollerGetRoller (size_t id) const
 Get a handle to the specified roller subsystem.
 
std::shared_ptr< ChRoadWheelGetRoadWheel (size_t id) const
 Get a handle to the specified road wheel subsystem.
 
const ChVectorGetTrackShoePos (size_t id) const
 Get the global location of the specified track shoe. More...
 
const ChQuaternionGetTrackShoeRot (size_t id) const
 Get the orientation of the specified track shoe. More...
 
const ChVectorGetTrackShoeLinVel (size_t id) const
 Get the linear velocity of the specified track shoe. More...
 
ChVector GetTrackShoeAngVel (size_t id) const
 Get the angular velocity of the specified track shoe. More...
 
BodyState GetTrackShoeState (size_t id) const
 Get the complete state for the specified track shoe. More...
 
void GetTrackShoeStates (BodyStates &states) const
 Get the complete states for all track shoes. More...
 
double GetMass () const
 Get the total mass of the track assembly. More...
 
virtual const ChVector GetRollerLocation (int which) const
 Get the relative location of the specified roller subsystem. More...
 
void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)
 Initialize this track assembly subsystem. More...
 
void SetSprocketVisualizationType (VisualizationType vis)
 Set visualization type for the sprocket subsystem.
 
void SetIdlerVisualizationType (VisualizationType vis)
 
void SetRoadWheelAssemblyVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystems.
 
void SetRoadWheelVisualizationType (VisualizationType vis)
 Set visualization type for the road-wheel subsystems.
 
void SetRollerVisualizationType (VisualizationType vis)
 Set visualization type for the roller subsystems.
 
void SetTrackShoeVisualizationType (VisualizationType vis)
 Set visualization type for the track shoe subsystems.
 
void Synchronize (double time, double braking, const TerrainForces &shoe_forces)
 Update the state of this track assembly at the current time. More...
 
virtual void SetOutput (bool state) override
 Enable/disable output for this subsystem. 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.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChTrackAssemblyBandANCF
enum  ContactSurfaceType { NONE, NODE_CLOUD, TRIANGLE_MESH }
 Type of the mesh contact surface.
 
- 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::ChTrackAssemblyBandANCF
void SetRubberLayerMaterial (double rho, const ChVector<> &E, const ChVector<> &nu, const ChVector<> &G)
 Set material properties of the rubber layers (isotropic material). More...
 
void SetSteelLayerMaterial (double rho, const ChVector<> &E, const ChVector<> &nu, const ChVector<> &G)
 Set material properties of the steel layer (isotropic material). More...
 
void SetElementStructuralDamping (double alpha)
 Set element structural damping (default: 0.05).
 
void SetLayerFiberAngles (double angle_1, double angle_2, double angle_3)
 Set fiber angle for the three layers. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand
bool FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2<>> &shoe_points)
 Assembly Algorithm Utility Functions.
 
void FindCircleTangentPoints (ChVector2<> Circle1Pos, double Circle1Rad, ChVector2<> Circle2Pos, double Circle2Rad, ChVector2<> &Tan1Pnt1, ChVector2<> &Tan1Pnt2, ChVector2<> &Tan2Pnt1, ChVector2<> &Tan2Pnt2)
 
void CheckCircleCircle (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius)
 
void CheckCircleLine (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius)
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly
 ChTrackAssembly (const std::string &name, VehicleSide side)
 
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::ChTrackAssemblyBandANCF
ChTrackShoeBandANCFList m_shoes
 track shoes
 
std::shared_ptr< fea::ChMeshm_track_mesh
 web mesh
 
ContactSurfaceType m_contact_type
 type of contact surface model (node cloud or mesh)
 
- Protected Attributes inherited from chrono::vehicle::ChTrackAssemblyBand
std::shared_ptr< ChSprocketBandm_sprocket
 sprocket subsystem
 
double m_sprocket_offset
 
- Protected Attributes inherited from chrono::vehicle::ChTrackAssembly
VehicleSide m_side
 assembly on left/right vehicle side
 
std::shared_ptr< ChIdlerm_idler
 idler (and tensioner) subsystem
 
std::shared_ptr< ChTrackBrakem_brake
 sprocket brake
 
ChRoadWheelAssemblyList m_suspensions
 road-wheel assemblies
 
ChRollerList m_rollers
 roller subsystems
 
- 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

const ChVector chrono::vehicle::m113::M113_TrackAssemblyBandANCF::GetIdlerLocation ( ) const
overridevirtual

Get the relative location of the idler subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implements chrono::vehicle::ChTrackAssembly.

const ChVector chrono::vehicle::m113::M113_TrackAssemblyBandANCF::GetRoadWhelAssemblyLocation ( int  which) const
overridevirtual

Get the relative location of the specified suspension subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implements chrono::vehicle::ChTrackAssembly.

const ChVector chrono::vehicle::m113::M113_TrackAssemblyBandANCF::GetSprocketLocation ( ) const
overridevirtual

Get the relative location of the sprocket subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implements chrono::vehicle::ChTrackAssembly.