chrono::vehicle::m113::M113_SimpleDriveline Class Reference
Description
Simple driveline model for the M113 vehicle (purely kinematic).
#include <M113_SimpleDriveline.h>
Inheritance diagram for chrono::vehicle::m113::M113_SimpleDriveline:
Collaboration diagram for chrono::vehicle::m113::M113_SimpleDriveline:
Public Member Functions | |
| virtual double | GetDifferentialMaxBias () const override |
| Return the torque bias ratio for the differential. More... | |
 Public Member Functions inherited from chrono::vehicle::ChSimpleTrackDriveline | |
| ChSimpleTrackDriveline (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| 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 | GetDriveshaftSpeed () const override |
| Get the angular speed of the driveshaft. More... | |
| virtual void | Synchronize (double steering, double torque) override |
| Update 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. | |
| 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 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. | |
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... | |
| Protected Member Functions inherited from chrono::vehicle::ChPart | |
| virtual void | Create (const rapidjson::Document &d) |
| Create a vehicle subsystem from JSON data. 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 | |
Member Function Documentation
◆ GetDifferentialMaxBias()
|
inlineoverridevirtual |
Return the torque bias ratio for the differential.
This is a simple model of a Torsen limited-slip differential.
Implements chrono::vehicle::ChSimpleTrackDriveline.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SimpleDriveline.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SimpleDriveline.cpp
