Description

Base class for a tracked vehicle sprocket.

A sprocket is responsible for contact processing with the track shoes of the containing track assembly.

#include <ChSprocket.h>

Inheritance diagram for chrono::vehicle::ChSprocket:

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Collaboration diagram for chrono::vehicle::ChSprocket:

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

virtual int	GetNumTeeth () const =0
	Get the number of teeth of the gear.

virtual double	GetAssemblyRadius () const =0
	Get the track assembly radius. More...

std::shared_ptr< ChBody >	GetGearBody () const
	Get a handle to the gear body.

std::shared_ptr< ChShaft >	GetAxle () const
	Get a handle to the axle shaft.

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

double	GetAxleSpeed () const
	Get the angular speed of the axle.

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

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

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

void	ApplyAxleTorque (double torque)
	Apply the provided motor torque. More...

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

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

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 Member Functions
virtual double	GetGearMass () const =0
	Return the mass of the gear body.

virtual const ChVector &	GetGearInertia ()=0
	Return the moments of inertia of the gear body.

virtual double	GetAxleInertia () const =0
	Return the inertia of the axle shaft.

virtual double	GetSeparation () const =0
	Return the distance between the two gear profiles.

virtual std::shared_ptr< geometry::ChLinePath >	GetProfile ()=0
	Return the 2D gear profile. More...

virtual ChSystem::CustomCollisionCallback *	GetCollisionCallback (ChTrackAssembly *track)=0
	Return the custom collision callback object. 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::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

Protected Attributes
std::shared_ptr< ChBody >	m_gear
	handle to the sprocket gear body

std::shared_ptr< ChShaft >	m_axle
	handle to gear shafts

std::shared_ptr< ChShaftsBody >	m_axle_to_spindle
	handle to gear-shaft connector

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to sprocket revolute joint

ChSystem::CustomCollisionCallback *	m_callback
	custom collision functor object

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.

Constructor & Destructor Documentation

◆ ChSprocket()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ ApplyAxleTorque()

void chrono::vehicle::ChSprocket::ApplyAxleTorque ( double torque )

Apply the provided motor torque.

The given torque is applied to the axle. This function provides the interface to the drivetrain subsystem (intermediated by the vehicle system).

Parameters

[in] torque value of applied torque

◆ ExportComponentList()

void chrono::vehicle::ChSprocket::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.

◆ GetAssemblyRadius()

virtual double chrono::vehicle::ChSprocket::GetAssemblyRadius ( ) const

pure virtual

Get the track assembly radius.

This quantity is used during the automatic track assembly. It represents a safe distance from the sprocket gear center at which the track shoes can be instantiated.

Implemented in chrono::vehicle::m113::M113_SprocketBand, chrono::vehicle::m113::M113_SprocketDoublePin, chrono::vehicle::m113::M113_SprocketSinglePin, chrono::vehicle::SprocketBand, chrono::vehicle::SprocketDoublePin, and chrono::vehicle::SprocketSinglePin.

◆ GetCollisionCallback()

virtual ChSystem::CustomCollisionCallback* chrono::vehicle::ChSprocket::GetCollisionCallback ( ChTrackAssembly * track )

protectedpure virtual

Return the custom collision callback object.

Note that the derived need not delete this object (it is deleted in the destructor of this base class).

Parameters

[in] track pointer to containing track assembly

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ GetProfile()

virtual std::shared_ptr<geometry::ChLinePath> chrono::vehicle::ChSprocket::GetProfile ( )

protectedpure virtual

Return the 2D gear profile.

The gear profile, a ChLinePath geometric object, is made up of an arbitrary number of sub-paths of type ChLineArc or ChLineSegment sub-lines. These must be added in clockwise order, and the end of sub-path i must be coincident with beginning of sub-path i+1.

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ Initialize()

void chrono::vehicle::ChSprocket::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location,
		ChTrackAssembly *	track
	)

virtual

Initialize this sprocket subsystem.

The sprocket 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).

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame
[in]	track	pointer to containing track assembly

Reimplemented in chrono::vehicle::ChSprocketBand.

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

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChSprocket()

Member Function Documentation

◆ ApplyAxleTorque()

◆ ExportComponentList()

◆ GetAssemblyRadius()

◆ GetCollisionCallback()

◆ GetProfile()

◆ Initialize()