chrono::vehicle::m113::M113_TrackShoeSinglePin Class Reference

Description

Single-pin track shoe subsystem for the M113 vehicle.

#include <M113_TrackShoeSinglePin.h>

Inheritance diagram for chrono::vehicle::m113::M113_TrackShoeSinglePin:
Collaboration diagram for chrono::vehicle::m113::M113_TrackShoeSinglePin:

Public Member Functions

 M113_TrackShoeSinglePin (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 GetPitch () const override
 Return the pitch length of the track shoe. More...
 
virtual double GetShoeMass () const override
 Return the mass of the shoe body.
 
virtual const ChVectorGetShoeInertia () const override
 Return the moments of inertia of the shoe body.
 
virtual double GetFrontCylinderLoc () const override
 Return the location of the front contact cylinder.
 
virtual double GetRearCylinderLoc () const override
 Return the location of the rear contact cylinder.
 
virtual double GetCylinderRadius () const override
 Return the radius of the contact cylinders.
 
virtual const ChVectorGetPadBoxDimensions () const override
 Return dimensions and locations of the contact boxes for the shoe and guiding pin. More...
 
virtual const ChVectorGetPadBoxLocation () const override
 
virtual const ChVectorGetGuideBoxDimensions () const override
 
virtual const ChVectorGetGuideBoxLocation () const override
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeSinglePin
 ChTrackShoeSinglePin (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual double GetMass () const override
 Get the mass of the track shoe.
 
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::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::ChTrackShoeSinglePin
virtual void AddShoeContact ()
 Add contact geometry for the track shoe. More...
 
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::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::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::m113::M113_TrackShoeSinglePin::GetPadBoxDimensions ( ) const
overridevirtual

Return dimensions and locations of the contact boxes for the shoe and 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::ChTrackShoeSinglePin.

virtual double chrono::vehicle::m113::M113_TrackShoeSinglePin::GetPitch ( ) const
overridevirtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implements chrono::vehicle::ChTrackShoe.

virtual GuidePinType chrono::vehicle::m113::M113_TrackShoeSinglePin::GetType ( ) const
overridevirtual

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.