Description

Definition of a continuous band track assembly.

A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. This is the base class for continuous band track assembly using rigid tread. Derived classes specify the actual template defintions, using different track shoes.

#include <ChTrackAssemblyBand.h>

Inheritance diagram for chrono::vehicle::ChTrackAssemblyBand:

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Collaboration diagram for chrono::vehicle::ChTrackAssemblyBand:

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Public Member Functions
	ChTrackAssemblyBand (const std::string &name, VehicleSide side)

virtual std::shared_ptr< ChSprocket >	GetSprocket () const override
	Get a handle to the sprocket.

Public Member Functions inherited from chrono::vehicle::ChTrackAssembly
VehicleSide	GetVehicleSide () const
	Return the vehicle side for this track assembly.

size_t	GetNumRoadWheelAssemblies () const
	Get the number of suspensions.

size_t	GetNumRollers () const
	Get the number of rollers.

virtual size_t	GetNumTrackShoes () const =0
	Get the number of track shoes.

std::shared_ptr< ChIdler >	GetIdler () const
	Get a handle to the idler subsystem.

std::shared_ptr< ChTrackBrake >	GetBrake () const
	Get a handle to the brake subsystem.

const ChRoadWheelAssemblyList &	GetRoadWheelAssemblies () const
	Get the list of suspension subsystems.

std::shared_ptr< ChRoadWheelAssembly >	GetRoadWheelAssembly (size_t id) const
	Get a handle to the specified suspension subsystem.

std::shared_ptr< ChRoller >	GetRoller (size_t id) const
	Get a handle to the specified roller subsystem.

std::shared_ptr< ChRoadWheel >	GetRoadWheel (size_t id) const
	Get a handle to the specified road wheel subsystem.

virtual std::shared_ptr< ChTrackShoe >	GetTrackShoe (size_t id) const =0
	Get a handle to the specified track shoe subsystem.

const ChVector &	GetTrackShoePos (size_t id) const
	Get the global location of the specified track shoe. More...

const ChQuaternion &	GetTrackShoeRot (size_t id) const
	Get the orientation of the specified track shoe. More...

const ChVector &	GetTrackShoeLinVel (size_t id) const
	Get the linear velocity of the specified track shoe. More...

ChVector	GetTrackShoeAngVel (size_t id) const
	Get the angular velocity of the specified track shoe. More...

BodyState	GetTrackShoeState (size_t id) const
	Get the complete state for the specified track shoe. More...

void	GetTrackShoeStates (BodyStates &states) const
	Get the complete states for all track shoes. More...

double	GetMass () const
	Get the total mass of the track assembly. More...

virtual const ChVector	GetSprocketLocation () const =0
	Get the relative location of the sprocket subsystem. More...

virtual const ChVector	GetIdlerLocation () const =0
	Get the relative location of the idler subsystem. More...

virtual const ChVector	GetRoadWhelAssemblyLocation (int which) const =0
	Get the relative location of the specified suspension subsystem. More...

virtual const ChVector	GetRollerLocation (int which) const
	Get the relative location of the specified roller subsystem. More...

void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, bool create_shoes=true)
	Initialize this track assembly subsystem. 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	Synchronize (double time, double braking, const TerrainForces &shoe_forces)
	Update the state of this track assembly at the current time. More...

virtual void	SetOutput (bool state) override
	Enable/disable output for this 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.

virtual void	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from 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.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Member Functions
bool	FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2<>> &shoe_points)
	Assembly Algorithm Utility Functions.

void	FindCircleTangentPoints (ChVector2<> Circle1Pos, double Circle1Rad, ChVector2<> Circle2Pos, double Circle2Rad, ChVector2<> &Tan1Pnt1, ChVector2<> &Tan1Pnt2, ChVector2<> &Tan2Pnt1, ChVector2<> &Tan2Pnt2)

void	CheckCircleCircle (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius)

void	CheckCircleLine (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius)

Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly
	ChTrackAssembly (const std::string &name, VehicleSide side)

virtual bool	Assemble (std::shared_ptr< ChBodyAuxRef > chassis)=0
	Assemble track shoes over wheels. More...

virtual void	RemoveTrackShoes ()=0
	Remove all track shoes from assembly.

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< ChSprocketBand >	m_sprocket
	sprocket subsystem

double	m_sprocket_offset

Protected Attributes inherited from chrono::vehicle::ChTrackAssembly
VehicleSide	m_side
	assembly on left/right vehicle side

std::shared_ptr< ChIdler >	m_idler
	idler (and tensioner) subsystem

std::shared_ptr< ChTrackBrake >	m_brake
	sprocket brake

ChRoadWheelAssemblyList	m_suspensions
	road-wheel assemblies

ChRollerList	m_rollers
	roller subsystems

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

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

◆ ChTrackAssemblyBand()

chrono::vehicle::ChTrackAssemblyBand::ChTrackAssemblyBand	(	const std::string &	name,
		VehicleSide	side
	)

inline

Parameters

[in]	name	name of the subsystem
[in]	side	assembly on left/right vehicle side

Member Function Documentation

◆ CheckCircleCircle()

void chrono::vehicle::ChTrackAssemblyBand::CheckCircleCircle	(	bool &	found,
		ChVector2<> &	Point,
		ChMatrixDynamic<> &	Features,
		int	FeatureIdx,
		ChVector2<> &	StartingPoint,
		double	Radius
	)

protected

Parameters

found	Does an intersection point exist between the circle formed by StartingPoint and Radius with the current circle belt feature
Point	Intersection Point, if it exists between the circle formed by StartingPoint and Radius with the current circle belt feature
Features	Table with the tagent or arc information for the entire belt wrap
FeatureIdx	Current belt feature to check the intersection of
StartingPoint	Current Point on the belt wrap
Radius	Length of the current belt segment that needs to be placed on the belt wrap

◆ CheckCircleLine()

void chrono::vehicle::ChTrackAssemblyBand::CheckCircleLine	(	bool &	found,
		ChVector2<> &	Point,
		ChMatrixDynamic<> &	Features,
		int	FeatureIdx,
		ChVector2<> &	StartingPoint,
		double	Radius
	)

protected

Parameters

found	Does an intersection point exist between the circle formed by StartingPoint and Radius with the current circle belt feature
Point	Intersection Point, if it exists between the circle formed by StartingPoint and Radius with the current circle belt feature
Features	Table with the tagent or arc information for the entire belt wrap
FeatureIdx	Current belt feature to check the intersection of
StartingPoint	Current Point on the belt wrap
Radius	Length of the current belt segment that needs to be placed on the belt wrap

◆ FindCircleTangentPoints()

void chrono::vehicle::ChTrackAssemblyBand::FindCircleTangentPoints	(	ChVector2<>	Circle1Pos,
		double	Circle1Rad,
		ChVector2<>	Circle2Pos,
		double	Circle2Rad,
		ChVector2<> &	Tan1Pnt1,
		ChVector2<> &	Tan1Pnt2,
		ChVector2<> &	Tan2Pnt1,
		ChVector2<> &	Tan2Pnt2
	)

protected

Parameters

Circle1Pos	Center Position of Circle 1
Circle1Rad	Radius of Circle 1
Circle2Pos	Center Position of Circle 2
Circle2Rad	Radius of Circle 2
Tan1Pnt1	Point on Circle 1 for the first calculated outside tangent
Tan1Pnt2	Point on Circle 2 for the first calculated outside tangent
Tan2Pnt1	Point on Circle 1 for the second calculated outside tangent
Tan2Pnt2	Point on Circle 2 for the second calculated outside tangent

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBand.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBand.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackAssemblyBand()

Member Function Documentation

◆ CheckCircleCircle()

◆ CheckCircleLine()

◆ FindCircleTangentPoints()