chrono::vehicle::m113::M113_TrackShoeBandANCF Class Reference

Description

Continuous band rigid-link track shoe subsystem for the M113 vehicle.

#include <M113_TrackShoeBandANCF.h>

Inheritance diagram for chrono::vehicle::m113::M113_TrackShoeBandANCF:
Collaboration diagram for chrono::vehicle::m113::M113_TrackShoeBandANCF:

Public Member Functions

 M113_TrackShoeBandANCF (const std::string &name)
 
virtual GuidePinType GetType () const override
 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 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 int GetNumElementsLength () const override
 Get the number of shell elements across the web length (from tread body to tread body).
 
virtual int GetNumElementsWidth () const override
 Get the number of shell elements across the web width (side to side).
 
virtual double GetSteelLayerThickness () const override
 Get thickness of the inner steel layer. More...
 
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.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeBandANCF
 ChTrackShoeBandANCF (const std::string &name, ElementType element_type=ElementType::ANCF_4)
 
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, bool ccw) override
 Connect this track shoe to the specified neighbor. More...
 
virtual void RemoveVisualizationAssets () override final
 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)
 
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.
 
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.
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChTrackShoeBandANCF
enum  ElementType { ElementType::ANCF_4, ElementType::ANCF_8 }
 
- 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::ChTrackShoeBand
virtual ChVector GetLateralContactPoint () const override
 Return the location of the guiding pin center, expressed in the shoe reference frame.
 
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.
 
- 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::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< 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::ChTrackShoeBand
std::shared_ptr< ChMaterialSurfacem_tooth_material
 contact material for teeth (sprocket interaction)
 
std::shared_ptr< ChMaterialSurfacem_body_material
 contact material for main body (wheel interaction)
 
std::shared_ptr< ChMaterialSurfacem_pad_material
 contact material for pad (ground interaction)
 
std::shared_ptr< ChMaterialSurfacem_guide_material
 contact material for guide pin (wheel interaction)
 
- 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
 

Member Function Documentation

◆ GetGuideBoxDimensions()

virtual const ChVector& chrono::vehicle::m113::M113_TrackShoeBandANCF::GetGuideBoxDimensions ( ) const
inlineoverridevirtual

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.

◆ GetSteelLayerThickness()

virtual double chrono::vehicle::m113::M113_TrackShoeBandANCF::GetSteelLayerThickness ( ) const
inlineoverridevirtual

Get thickness of the inner steel layer.

The rubber layer thicknesses are obtained from the total web thickness.

Implements chrono::vehicle::ChTrackShoeBandANCF.

◆ GetType()

virtual GuidePinType chrono::vehicle::m113::M113_TrackShoeBandANCF::GetType ( ) const
inlineoverridevirtual

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.

◆ GetWebInertia()

virtual const ChVector& chrono::vehicle::m113::M113_TrackShoeBandANCF::GetWebInertia ( ) const
inlineoverridevirtual

Return the moments of inertia of the web.

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

Implements chrono::vehicle::ChTrackShoeBand.

◆ GetWebMass()

virtual double chrono::vehicle::m113::M113_TrackShoeBandANCF::GetWebMass ( ) const
inlineoverridevirtual

Return the mass of the web.

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

Implements chrono::vehicle::ChTrackShoeBand.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_TrackShoeBandANCF.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_TrackShoeBandANCF.cpp