chrono::vehicle::m113::M113_Vehicle Class Reference

Description

Definition of an M113 tracked vehicle with segmented tracks.

Both single-pin and double-pin track assemblies can be used with this vehicle model.

#include <M113_Vehicle.h>

Inheritance diagram for chrono::vehicle::m113::M113_Vehicle:
Collaboration diagram for chrono::vehicle::m113::M113_Vehicle:

Public Member Functions

 M113_Vehicle (bool fixed, TrackShoeType shoe_type, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC, ChassisCollisionType chassis_collision_type=ChassisCollisionType::NONE)
 
 M113_Vehicle (bool fixed, TrackShoeType shoe_type, ChSystem *system, ChassisCollisionType chassis_collision_type=ChassisCollisionType::NONE)
 
virtual void Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
 Initialize this vehicle at the specified global location and orientation. More...
 
- Public Member Functions inherited from chrono::vehicle::ChTrackedVehicle
 ChTrackedVehicle (const std::string &name, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a vehicle system with a default ChSystem. More...
 
 ChTrackedVehicle (const std::string &name, ChSystem *system)
 Construct a vehicle system using the specified ChSystem. More...
 
virtual ~ChTrackedVehicle ()
 Destructor.
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle system template.
 
virtual double GetVehicleMass () const override
 Get the vehicle total mass. More...
 
virtual ChVector GetVehicleCOMPos () const override
 Get the current global vehicle COM location.
 
virtual std::shared_ptr< ChPowertrainGetPowertrain () const override
 Get the powertrain attached to this vehicle.
 
std::shared_ptr< ChTrackAssemblyGetTrackAssembly (VehicleSide side) const
 Get the specified suspension subsystem.
 
std::shared_ptr< ChDrivelineTVGetDriveline () const
 Get a handle to the vehicle's driveline subsystem.
 
virtual std::shared_ptr< ChShaftGetDriveshaft () const override
 Get a handle to the vehicle's driveshaft body.
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
size_t GetNumRoadWheelAssemblies (VehicleSide side) const
 Get the number of suspensions in the specified track assembly.
 
size_t GetNumTrackShoes (VehicleSide side) const
 Get the number of shoes in the specified track assembly.
 
std::shared_ptr< ChTrackShoeGetTrackShoe (VehicleSide side, size_t id) const
 Get a handle to the specified track shoe.
 
BodyState GetTrackShoeState (VehicleSide side, size_t shoe_id) const
 Get the complete state for the specified track shoe. More...
 
void GetTrackShoeStates (VehicleSide side, BodyStates &states) const
 Get the complete states for all track shoes of the specified track assembly. More...
 
void InitializePowertrain (std::shared_ptr< ChPowertrain > powertrain)
 Initialize the given powertrain system and associate it to this vehicle. 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 SetSprocketCollide (bool state)
 Enable/disable collision for the sprocket subsystem.
 
void SetIdlerCollide (bool state)
 Enable/disable collision for the idler subsystem.
 
void SetRoadWheelCollide (bool state)
 Enable/disable collision for the road-wheel subsystems.
 
void SetRollerCollide (bool state)
 Enable/disable collision for the roller subsystems.
 
void SetTrackShoeCollide (bool state)
 Enable/disable collision for the track shoe subsystems.
 
void SetCollide (int flags)
 Set collision flags for the various subsystems. More...
 
virtual void SetChassisVehicleCollide (bool state) override
 Enable/disable collision between the chassis and all other vehicle subsystems. More...
 
void MonitorContacts (int flags)
 Set contacts to be monitored. More...
 
void SetContactCollection (bool val)
 Turn on/off contact data collection. More...
 
bool IsPartInContact (TrackedCollisionFlag::Enum part) const
 Return true if the specified vehicle part is currently experiencing a collision.
 
void WriteContacts (const std::string &filename)
 Write contact information to file. More...
 
void SetTrackAssemblyOutput (VehicleSide side, bool state)
 Enable/disable output for the track assemblies.
 
void Synchronize (double time, const ChDriver::Inputs &driver_inputs, const TerrainForces &shoe_forces_left, const TerrainForces &shoe_forces_right)
 Update the state of this vehicle at the current time. More...
 
virtual void Advance (double step) final
 Advance the state of this vehicle by the specified time step.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
virtual std::string ExportComponentList () const override
 Return a JSON string with information on all modeling components in the vehicle system. More...
 
virtual void ExportComponentList (const std::string &filename) const override
 Write a JSON-format file with information on all modeling components in the vehicle system. More...
 
virtual void Output (int frame, ChVehicleOutput &database) const override
 Output data for all modeling components in the vehicle system.
 
- Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual ~ChVehicle ()
 Destructor.
 
const std::string & GetName () const
 Get the name identifier for this vehicle.
 
void SetName (const std::string &name)
 Set the name identifier for this vehicle.
 
ChSystemGetSystem ()
 Get a pointer to the Chrono ChSystem.
 
double GetChTime () const
 Get the current simulation time of the underlying ChSystem.
 
std::shared_ptr< ChChassisGetChassis () const
 Get a handle to the vehicle's chassis subsystem.
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 Get a handle to the vehicle's chassis body.
 
const ChVectorGetVehiclePos () const
 Get the vehicle location. More...
 
const ChQuaternionGetVehicleRot () const
 Get the vehicle orientation. More...
 
double GetVehicleSpeed () const
 Get the vehicle speed. More...
 
double GetVehicleSpeedCOM () const
 Get the speed of the chassis COM. More...
 
ChVector GetVehiclePointLocation (const ChVector<> &locpos) const
 Get the global position of the specified point. More...
 
ChVector GetVehiclePointVelocity (const ChVector<> &locpos) const
 Get the global velocity of the specified point. More...
 
ChVector GetVehicleAcceleration (const ChVector<> &locpos) const
 Get the acceleration at the specified point. More...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
void SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
 Enable output for this vehicle system. More...
 
void SetChassisVisualizationType (VisualizationType vis)
 Set visualization mode for the chassis subsystem.
 
void SetChassisCollide (bool state)
 Enable/disable collision for the chassis subsystem. More...
 
void SetChassisOutput (bool state)
 Enable/disable output from the chassis subsystem.
 
void SetStepsize (double val)
 Set the integration step size for the vehicle system.
 
double GetStepsize () const
 Get the current value of the integration step size for the vehicle system.
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::vehicle::ChVehicle
 ChVehicle (const std::string &name, ChMaterialSurface::ContactMethod contact_method=ChMaterialSurface::NSC)
 Construct a vehicle system with an underlying ChSystem. More...
 
 ChVehicle (const std::string &name, ChSystem *system)
 Construct a vehicle system using the specified ChSystem. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool AnyOutput (const std::vector< std::shared_ptr< T >> &list)
 Utility function for testing if any subsystem in a list generates output.
 
- Protected Attributes inherited from chrono::vehicle::ChTrackedVehicle
std::shared_ptr< ChTrackAssemblym_tracks [2]
 track assemblies (left/right)
 
std::shared_ptr< ChDrivelineTVm_driveline
 driveline subsystem
 
std::shared_ptr< ChPowertrainm_powertrain
 associated powertrain system
 
ChTrackContactManagerm_contacts
 manager for internal contacts
 
- Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string m_name
 vehicle name
 
ChSystemm_system
 pointer to the Chrono system
 
bool m_ownsSystem
 true if system created at construction
 
bool m_output
 generate ouput for this vehicle system
 
ChVehicleOutputm_output_db
 vehicle output database
 
double m_output_step
 output time step
 
double m_next_output_time
 time for next output
 
int m_output_frame
 current output frame
 
std::shared_ptr< ChChassism_chassis
 handle to the chassis subsystem
 
double m_stepsize
 integration step-size for the vehicle system
 

Member Function Documentation

void chrono::vehicle::m113::M113_Vehicle::Initialize ( const ChCoordsys<> &  chassisPos,
double  chassisFwdVel = 0 
)
overridevirtual

Initialize this vehicle at the specified global location and orientation.

This base class implementation only initializes the chassis subsystem. Derived classes must extend this function to initialize all other tracked vehicle subsystems (the two track assemblies and the driveline).

Reimplemented from chrono::vehicle::ChTrackedVehicle.