Description

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

A single-pin track shoe can be either of CENTRAL_PIN or LATERAL_PIN type.

#include <ChTrackShoeSinglePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeSinglePin:

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Collaboration diagram for chrono::vehicle::ChTrackShoeSinglePin:

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

virtual double	GetPitch () const =0
	Return the pitch length of the track shoe. More...

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	GetFrontCylinderLoc () const =0
	Return the location of the front contact cylinder. More...

virtual double	GetRearCylinderLoc () const =0
	Return the location of the rear contact cylinder. More...

virtual double	GetCylinderRadius () const =0
	Return the radius of the contact cylinders.

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...

Friends
class	ChSprocketSinglePin

class	ChTrackAssemblySinglePin

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::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

Constructor & Destructor Documentation

◆ ChTrackShoeSinglePin()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ AddShoeContact()

void chrono::vehicle::ChTrackShoeSinglePin::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. The default implementation uses contact boxes for the pad and central guiding pin.

◆ Connect()

void chrono::vehicle::ChTrackShoeSinglePin::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::ChTrackShoeSinglePin::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.

◆ GetFrontCylinderLoc()

virtual double chrono::vehicle::ChTrackShoeSinglePin::GetFrontCylinderLoc ( ) const

protectedpure virtual

Return the location of the front contact cylinder.

This location is relative to the shoe reference frame (in the positive x direction)

Implemented in chrono::vehicle::m113::M113_TrackShoeSinglePin, and chrono::vehicle::TrackShoeSinglePin.

◆ GetPadBoxDimensions()

virtual const ChVector& chrono::vehicle::ChTrackShoeSinglePin::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_TrackShoeSinglePin, and chrono::vehicle::TrackShoeSinglePin.

◆ GetRearCylinderLoc()

virtual double chrono::vehicle::ChTrackShoeSinglePin::GetRearCylinderLoc ( ) const

protectedpure virtual

Return the location of the rear contact cylinder.

This location is relative to the shoe reference frame (in the negative x direction)

Implemented in chrono::vehicle::m113::M113_TrackShoeSinglePin, and chrono::vehicle::TrackShoeSinglePin.

◆ Initialize()

void chrono::vehicle::ChTrackShoeSinglePin::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). A derived class must extend this default implementation and specify the contact geometry for the track shoe body.

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

Description

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackShoeSinglePin()

Member Function Documentation

◆ AddShoeContact()

◆ Connect()

◆ ExportComponentList()

◆ GetFrontCylinderLoc()

◆ GetPadBoxDimensions()

◆ GetRearCylinderLoc()

◆ Initialize()