Description

Base class for an idler subsystem.

An idler consists of the idler wheel and a connecting body. The idler wheel is connected through a revolute joint to the connecting body which in turn is connected to the chassis through a translational joint. A linear actuator acts as a tensioner.

#include <ChIdler.h>

Inheritance diagram for chrono::vehicle::ChIdler:

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Collaboration diagram for chrono::vehicle::ChIdler:

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Public Member Functions
	ChIdler (const std::string &name)

virtual GuidePinType	GetType () const =0
	Return the type of track shoe consistent with this idler.

std::shared_ptr< ChBody >	GetWheelBody () const
	Get a handle to the road wheel body.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute () const
	Get a handle to the revolute joint.

virtual double	GetWheelRadius () const =0
	Get the radius of the idler wheel.

void	SetCollide (bool val)
	Turn on/off collision flag for the idler wheel.

virtual double	GetMass () const
	Get the mass of the idler subsystem.

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location)
	Initialize this idler subsystem. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the idler subsystem. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the idler 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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

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.

Protected Types
enum	PointId { WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER, TSDA_CHASSIS, NUM_POINTS }
	Identifiers for the various hardpoints. More...

Protected Member Functions
virtual const ChVector	GetLocation (PointId which)=0
	Return the location of the specified hardpoint. More...

virtual double	GetWheelMass () const =0
	Return the mass of the idler wheel body.

virtual const ChVector &	GetWheelInertia ()=0
	Return the moments of inertia of the idler wheel body.

virtual double	GetCarrierMass () const =0
	Return the mass of the carrier body.

virtual const ChVector &	GetCarrierInertia ()=0
	Return the moments of inertia of the carrier body.

virtual double	GetCarrierVisRadius () const =0
	Return a visualization radius for the carrier body.

virtual double	GetPrismaticPitchAngle () const =0
	Return the pitch angle of the prismatic joint.

virtual ChLinkTSDA::ForceFunctor *	GetTensionerForceCallback () const =0
	Return the functor object for spring force.

virtual double	GetTensionerFreeLength () const =0
	Return the free length for the tensioner spring.

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...

Protected Attributes
std::shared_ptr< ChBody >	m_wheel
	handle to the idler wheel body

std::shared_ptr< ChBody >	m_carrier
	handle to the carrier body

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to wheel-carrier revolute joint

std::shared_ptr< ChLinkLockPrismatic >	m_prismatic
	handle to carrier-chassis translational joint

std::shared_ptr< ChLinkTSDA >	m_tensioner
	handle to the TSDA tensioner element

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

Friends
class	ChTrackAssembly

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...

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.

Member Enumeration Documentation

◆ PointId

enum chrono::vehicle::ChIdler::PointId

protected

Identifiers for the various hardpoints.

Enumerator
WHEEL	idler wheel location
CARRIER	carrier location
CARRIER_CHASSIS	carrier, connection to chassis (translational)
TSDA_CARRIER	TSDA connection to carrier.
TSDA_CHASSIS	TSDA connection to chassis.

Constructor & Destructor Documentation

◆ ChIdler()

chrono::vehicle::ChIdler::ChIdler ( const std::string & name )

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChIdler::AddVisualizationAssets ( VisualizationType vis )

overridevirtual

Add visualization assets for the idler subsystem.

This default implementation adds assets to the carrier body.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::m113::M113_Idler, chrono::vehicle::DoubleIdler, chrono::vehicle::SingleIdler, chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.

◆ ExportComponentList()

void chrono::vehicle::ChIdler::ExportComponentList ( rapidjson::Document & jsonDocument ) const

overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChIdler::GetLocation ( PointId which )

protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

Implemented in chrono::vehicle::m113::M113_Idler.

◆ Initialize()

void chrono::vehicle::ChIdler::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location
	)

virtual

Initialize this idler subsystem.

The idler subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the idler subsystem reference frame is always aligned with the chassis reference frame. A derived idler subsystem template class must extend this default implementation and specify contact geometry for the idler wheel.

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame

Reimplemented in chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.

◆ RemoveVisualizationAssets()

void chrono::vehicle::ChIdler::RemoveVisualizationAssets ( )

overridevirtual

Remove visualization assets for the idler subsystem.

This default implementation removes the assets from the carrier body.

Reimplemented from chrono::vehicle::ChPart.

Reimplemented in chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChIdler.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChIdler.cpp

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Enumeration Documentation

◆ PointId

Constructor & Destructor Documentation

◆ ChIdler()

Member Function Documentation

◆ AddVisualizationAssets()

◆ ExportComponentList()

◆ GetLocation()

◆ Initialize()

◆ RemoveVisualizationAssets()