Description

Base class for a double-pin track shoe (template definition).

#include <ChTrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeDoublePin:

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Collaboration diagram for chrono::vehicle::ChTrackShoeDoublePin:

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

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

virtual double	GetMass () const override
	Get the mass of the track shoe.

virtual double	GetPitch () const override
	Return the pitch length of the track shoe. More...

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
	Initialize this track shoe subsystem. More...

void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector<> &loc_connector_L, const ChVector<> &loc_connector_R, const ChQuaternion<> &rot_connector)
	Initialize this track shoe system. More...

virtual void	Connect (std::shared_ptr< ChTrackShoe > next) override
	Connect this track shoe to the specified neighbor. More...

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

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the track shoe subsystem.

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

virtual GuidePinType	GetType () const =0
	Return the type of track shoe (guiding pin). More...

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

virtual double	GetHeight () const =0
	Return the height of the track shoe.

size_t	GetIndex () const
	Get the index of this track shoe within its containing track assembly.

void	SetCollide (bool val)
	Turn on/off collision flag for the shoe body.

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.

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	GetShoeMass () const =0
	Return the mass of the shoe body.

virtual const ChVector &	GetShoeInertia () const =0
	Return the moments of inertia of the shoe body.

virtual double	GetShoeLength () const =0
	Return shoe length (distance between pins).

virtual double	GetShoeWidth () const =0
	Return shoe width (separation between connectors).

virtual double	GetConnectorMass () const =0
	Return the mass of a connector body.

virtual const ChVector &	GetConnectorInertia () const =0
	Return the moments of inertia of a connector body.

virtual double	GetConnectorLength () const =0
	Return the length of a connector body (distance between pins).

virtual double	GetConnectorWidth () const =0
	Return the width of a connector body (for visualization only).

virtual double	GetConnectorRadius () const =0
	Return the radius of a connector body.

virtual const ChVector &	GetPadBoxDimensions () const =0
	Return dimensions and locations of the contact boxes for the shoe and guiding pin. More...

virtual const ChVector &	GetPadBoxLocation () const =0

virtual const ChVector &	GetGuideBoxDimensions () const =0

virtual const ChVector &	GetGuideBoxLocation () const =0

virtual void	AddShoeContact ()
	Add contact geometry for the track shoe. 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::ChTrackShoe
void	SetIndex (size_t index)
	Set the index of this track shoe within its containing track assembly.

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_connector_L
	handle to left connector body

std::shared_ptr< ChBody >	m_connector_R
	handle to right connector body

std::shared_ptr< ChLinkLockRevolute >	m_revolute_L
	handle to shoe - left connector joint

std::shared_ptr< ChLinkLockRevolute >	m_revolute_R
	handle to shoe - right connector joint

Protected Attributes inherited from chrono::vehicle::ChTrackShoe
size_t	m_index
	index of this track shoe within its containing track assembly

std::shared_ptr< ChBody >	m_shoe
	handle to the shoe body

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	ChSprocketDoublePin

class	SprocketDoublePinContactCB

class	ChTrackAssemblyDoublePin

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

◆ ChTrackShoeDoublePin()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ AddShoeContact()

void chrono::vehicle::ChTrackShoeDoublePin::AddShoeContact ( )

protectedvirtual

Add contact geometry for the track shoe.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

◆ Connect()

void chrono::vehicle::ChTrackShoeDoublePin::Connect ( std::shared_ptr< ChTrackShoe > next )

overridevirtual

Connect this track shoe to the specified neighbor.

This function must be called only after both track shoes have been initialized.

Parameters

[in] next handle to the neighbor track shoe

Implements chrono::vehicle::ChTrackShoe.

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeDoublePin::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.

◆ GetPadBoxDimensions()

virtual const ChVector& chrono::vehicle::ChTrackShoeDoublePin::GetPadBoxDimensions ( ) const

protectedpure virtual

Return dimensions and locations of the contact boxes for the shoe and guiding pin.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

Implemented in chrono::vehicle::m113::M113_TrackShoeDoublePin, and chrono::vehicle::TrackShoeDoublePin.

◆ GetPitch()

double chrono::vehicle::ChTrackShoeDoublePin::GetPitch ( ) const

overridevirtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implements chrono::vehicle::ChTrackShoe.

◆ Initialize() [1/2]

void chrono::vehicle::ChTrackShoeDoublePin::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	loc_shoe,
		const ChQuaternion<> &	rot_shoe,
		const ChVector<> &	loc_connector_L,
		const ChVector<> &	loc_connector_R,
		const ChQuaternion<> &	rot_connector
	)

Initialize this track shoe system.

This version specifies the locations and orientations of the shoe body and of the connector bodies (relative to the chassis frame).

Parameters

[in]	chassis	handle to chassis body
[in]	loc_shoe	location of shoe body
[in]	rot_shoe	orientation of shoe body
[in]	loc_connector_L	location of left connector body
[in]	loc_connector_R	location of right connector body
[in]	rot_connector	orientation of connector bodies

◆ Initialize() [2/2]

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

overridevirtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). This version initializes the bodies of a double-pin track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

Parameters

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

Implements chrono::vehicle::ChTrackShoe.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeDoublePin.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeDoublePin.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackShoeDoublePin()

Member Function Documentation

◆ AddShoeContact()

◆ Connect()

◆ ExportComponentList()

◆ GetPadBoxDimensions()

◆ GetPitch()

◆ Initialize() [1/2]

◆ Initialize() [2/2]