Description

Track driveline model template based on ChShaft objects.

#include <ChTrackDrivelineBDS.h>

Inheritance diagram for chrono::vehicle::ChTrackDrivelineBDS:

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Collaboration diagram for chrono::vehicle::ChTrackDrivelineBDS:

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

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

void	SetMotorBlockDirection (const ChVector<> &dir)
	Set the direction of the motor block. More...

void	SetAxleDirection (const ChVector<> &dir)
	Set the direction of the wheel axles. More...

virtual void	Initialize (std::shared_ptr< ChBody > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right) override
	Initialize the driveline subsystem. More...

virtual double	GetSprocketTorque (VehicleSide side) const override
	Get the motor torque to be applied to the specified sprocket.

virtual double	GetSprocketSpeed (VehicleSide side) const override
	Get the angular speed of the specified sprocket.

Public Member Functions inherited from chrono::vehicle::ChDrivelineTV
	ChDrivelineTV (const std::string &name)

virtual void	SetGyrationMode (bool mode)
	Turn gyration mode on/off.

virtual void	Synchronize (double steering, double torque)
	Update the driveline subsystem. More...

Public Member Functions inherited from chrono::vehicle::ChDriveline
	ChDriveline (const std::string &name)

std::shared_ptr< ChShaft >	GetDriveshaft () const
	Get a handle to the driveshaft. More...

virtual double	GetDriveshaftSpeed () const
	Get the angular speed of the driveshaft. More...

virtual void	Synchronize (double torque)
	Update the driveline subsystem. More...

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.

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.

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

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

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
virtual double	GetDriveshaftInertia () const =0
	Return the inertia of the driveshaft.

virtual double	GetDifferentialBoxInertia () const =0
	Return the inertia of the differential box.

virtual double	GetConicalGearRatio () const =0
	Return the gear ratio for the conical gear.

virtual double	GetDifferentialRatio () const =0
	Return the gear ratio for the differential.

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

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.

Protected Attributes inherited from chrono::vehicle::ChDrivelineTV
bool	m_gyration_mode
	flag indicating if in gyration mode (turn in place)

Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaft >	m_driveshaft
	shaft connection to the powertrain

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

Constructor & Destructor Documentation

◆ ChTrackDrivelineBDS()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ Initialize()

void chrono::vehicle::ChTrackDrivelineBDS::Initialize	(	std::shared_ptr< ChBody >	chassis,
		std::shared_ptr< ChTrackAssembly >	track_left,
		std::shared_ptr< ChTrackAssembly >	track_right
	)

overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the sprockets of the two track assembly subsystems.

Parameters

chassis	handle to the chassis body
track_left	handle to the left track assembly
track_right	handle to the right track assembly

Implements chrono::vehicle::ChDrivelineTV.

◆ SetAxleDirection()

void chrono::vehicle::ChTrackDrivelineBDS::SetAxleDirection ( const ChVector<> & dir )

inline

Set the direction of the wheel axles.

This direction is a unit vector, relative to the chassis frame. It must be specified for the design configuration (for the ISO vehicle coordinate system, this is typically [0, 1, 0]).

◆ SetMotorBlockDirection()

void chrono::vehicle::ChTrackDrivelineBDS::SetMotorBlockDirection ( const ChVector<> & dir )

inline

Set the direction of the motor block.

This direction is a unit vector, relative to the chassis frame (for the ISO coordinate system, this is [1, 0, 0] for a longitudinal engine and [0, 1, 0] for a transversal engine).

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/driveline/ChTrackDrivelineBDS.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/driveline/ChTrackDrivelineBDS.cpp