Description

M113 sprocket subsystem, suitable for interaction with double-pin track shoes (base class).

#include <M113_SprocketDoublePin.h>

Inheritance diagram for chrono::vehicle::m113::M113_SprocketDoublePin:

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Collaboration diagram for chrono::vehicle::m113::M113_SprocketDoublePin:

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Public Member Functions
virtual int	GetNumTeeth () const override
	Get the number of teeth of the gear.

virtual double	GetAssemblyRadius () const override
	Get the radius of the gear. More...

virtual double	GetGearMass () const override
	Return the mass of the gear body.

virtual const ChVector &	GetGearInertia () override
	Return the moments of inertia of the gear body.

virtual double	GetAxleInertia () const override
	Return the inertia of the axle shaft.

virtual double	GetSeparation () const override
	Return the distance between the two gear profiles.

virtual double	GetOuterRadius () const override
	Return the radius of the addendum circle.

virtual double	GetArcRadius () const override
	Return the radius of the (concave) tooth circular arc.

virtual double	GetArcCenterHeight () const override
	Return height of arc center.

virtual double	GetArcCenterOffset () const override
	Return offset of arc center.

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization of the sprocket.

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

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

virtual std::shared_ptr< geometry::ChLinePath >	GetProfile () override
	Return the 2D gear profile. More...

virtual ChSystem::CustomCollisionCallback *	GetCollisionCallback (ChTrackAssembly *track) override
	Return the custom collision callback object. More...

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

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

std::shared_ptr< ChShaft >	GetAxle () const
	Get a handle to the axle shaft.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute () const
	Get a handle to the revolute joint.

double	GetAxleSpeed () const
	Get the angular speed of the axle.

void	SetCollide (bool val)
	Turn on/off collision flag for the gear wheel.

virtual double	GetMass () const
	Get the mass of the sprocket subsystem.

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, ChTrackAssembly *track)
	Initialize this sprocket subsystem. More...

void	ApplyAxleTorque (double torque)
	Apply the provided motor torque. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the sprocket subsystem.

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.

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
	M113_SprocketDoublePin (const std::string &name)

virtual std::string	GetMeshName () const =0

virtual std::string	GetMeshFile () const =0

Protected Member Functions inherited from chrono::vehicle::ChSprocket
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...

Static Protected Attributes
static const int	m_num_teeth = 10

static const double	m_gear_mass = 27.68

static const ChVector	m_gear_inertia

static const double	m_axle_inertia = 0.02

static const double	m_separation = 0.278

static const double	m_gear_RT = 0.2715

static const double	m_gear_R = 0.0223

static const double	m_gear_C = 0.2371

static const double	m_gear_W = 0.0464

static const double	m_gear_RA = 0.242

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::ChSprocket
std::shared_ptr< ChBody >	m_gear
	handle to the sprocket gear body

std::shared_ptr< ChShaft >	m_axle
	handle to gear shafts

std::shared_ptr< ChShaftsBody >	m_axle_to_spindle
	handle to gear-shaft connector

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to sprocket revolute joint

ChSystem::CustomCollisionCallback *	m_callback
	custom collision functor object

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

◆ GetAssemblyRadius()

virtual double chrono::vehicle::m113::M113_SprocketDoublePin::GetAssemblyRadius ( ) const

inlineoverridevirtual

Get the radius of the gear.

This quantity is used during the automatic track assembly.

Implements chrono::vehicle::ChSprocket.

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketDoublePin.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketDoublePin.cpp

Description

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ GetAssemblyRadius()