Description
Definition of a continuous band track assembly using an ANCFshell-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes.
This class defines the template for a track assembly using a web modeled as an FEA mesh with ANCF shell elements.
#include <ChTrackAssemblyBandANCF.h>
Public Types | |
enum | ContactSurfaceType { NONE, NODE_CLOUD, TRIANGLE_MESH } |
Type of the mesh contact surface. | |
Public Member Functions | |
ChTrackAssemblyBandANCF (const std::string &name, VehicleSide side) | |
Construct an ANCFshell-based track assembly on the specified vehicle side. More... | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
void | SetContactSurfaceType (ContactSurfaceType type) |
Set the type of contact surface (default: TRIANGLE_MESH). | |
virtual size_t | GetNumTrackShoes () const override |
Get the number of track shoes. | |
virtual std::shared_ptr< ChTrackShoe > | GetTrackShoe (size_t id) const override |
Get a handle to the specified track shoe subsystem. | |
Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand | |
ChTrackAssemblyBand (const std::string &name, VehicleSide side) | |
virtual std::shared_ptr< ChSprocket > | GetSprocket () const override |
Get a handle to the sprocket. | |
Public Member Functions inherited from chrono::vehicle::ChTrackAssembly | |
VehicleSide | GetVehicleSide () const |
Return the vehicle side for this track assembly. | |
size_t | GetNumRoadWheelAssemblies () const |
Get the number of suspensions. | |
size_t | GetNumRollers () const |
Get the number of rollers. | |
std::shared_ptr< ChIdler > | GetIdler () const |
Get a handle to the idler subsystem. | |
std::shared_ptr< ChTrackBrake > | GetBrake () const |
Get a handle to the brake subsystem. | |
const ChRoadWheelAssemblyList & | GetRoadWheelAssemblies () const |
Get the list of suspension subsystems. | |
std::shared_ptr< ChRoadWheelAssembly > | GetRoadWheelAssembly (size_t id) const |
Get a handle to the specified suspension subsystem. | |
std::shared_ptr< ChRoller > | GetRoller (size_t id) const |
Get a handle to the specified roller subsystem. | |
std::shared_ptr< ChRoadWheel > | GetRoadWheel (size_t id) const |
Get a handle to the specified road wheel subsystem. | |
const ChVector & | GetTrackShoePos (size_t id) const |
Get the global location of the specified track shoe. More... | |
const ChQuaternion & | GetTrackShoeRot (size_t id) const |
Get the orientation of the specified track shoe. More... | |
const ChVector & | GetTrackShoeLinVel (size_t id) const |
Get the linear velocity of the specified track shoe. More... | |
ChVector | GetTrackShoeAngVel (size_t id) const |
Get the angular velocity of the specified track shoe. More... | |
BodyState | GetTrackShoeState (size_t id) const |
Get the complete state for the specified track shoe. More... | |
void | GetTrackShoeStates (BodyStates &states) const |
Get the complete states for all track shoes. More... | |
double | GetMass () const |
Get the total mass of the track assembly. More... | |
virtual const ChVector | GetSprocketLocation () const =0 |
Get the relative location of the sprocket subsystem. More... | |
virtual const ChVector | GetIdlerLocation () const =0 |
Get the relative location of the idler subsystem. More... | |
virtual const ChVector | GetRoadWhelAssemblyLocation (int which) const =0 |
Get the relative location of the specified suspension subsystem. More... | |
virtual const ChVector | GetRollerLocation (int which) const |
Get the relative location of the specified roller subsystem. More... | |
void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, bool create_shoes=true) |
Initialize this track assembly subsystem. More... | |
void | SetSprocketVisualizationType (VisualizationType vis) |
Set visualization type for the sprocket subsystem. | |
void | SetIdlerVisualizationType (VisualizationType vis) |
void | SetRoadWheelAssemblyVisualizationType (VisualizationType vis) |
Set visualization type for the suspension subsystems. | |
void | SetRoadWheelVisualizationType (VisualizationType vis) |
Set visualization type for the road-wheel subsystems. | |
void | SetRollerVisualizationType (VisualizationType vis) |
Set visualization type for the roller subsystems. | |
void | SetTrackShoeVisualizationType (VisualizationType vis) |
Set visualization type for the track shoe subsystems. | |
void | Synchronize (double time, double braking, const TerrainForces &shoe_forces) |
Update the state of this track assembly at the current time. More... | |
virtual void | SetOutput (bool state) override |
Enable/disable output for this subsystem. More... | |
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. | |
bool | OutputEnabled () const |
Return the output state for this subsystem. | |
Protected Member Functions | |
void | SetRubberLayerMaterial (double rho, const ChVector<> &E, const ChVector<> &nu, const ChVector<> &G) |
Set material properties of the rubber layers (isotropic material). More... | |
void | SetSteelLayerMaterial (double rho, const ChVector<> &E, const ChVector<> &nu, const ChVector<> &G) |
Set material properties of the steel layer (isotropic material). More... | |
void | SetElementStructuralDamping (double alpha) |
Set element structural damping (default: 0.05). | |
void | SetLayerFiberAngles (double angle_1, double angle_2, double angle_3) |
Set fiber angle for the three layers. More... | |
virtual void | CreateContactMaterial (ChContactMethod contact_method)=0 |
Create the contact material for the web mesh, consistent with the specified contact method. | |
Protected Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand | |
bool | FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2<>> &shoe_points) |
Assembly Algorithm Utility Functions. | |
void | FindCircleTangentPoints (ChVector2<> Circle1Pos, double Circle1Rad, ChVector2<> Circle2Pos, double Circle2Rad, ChVector2<> &Tan1Pnt1, ChVector2<> &Tan1Pnt2, ChVector2<> &Tan2Pnt1, ChVector2<> &Tan2Pnt2) |
void | CheckCircleCircle (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius) |
void | CheckCircleLine (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius) |
Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly | |
ChTrackAssembly (const std::string &name, VehicleSide side) | |
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... | |
Protected Attributes | |
ChTrackShoeBandANCFList | m_shoes |
track shoes | |
std::shared_ptr< fea::ChMesh > | m_track_mesh |
web mesh | |
std::shared_ptr< ChMaterialSurface > | m_contact_material |
contact material for the web mesh | |
ContactSurfaceType | m_contact_type |
type of contact surface model (node cloud or mesh) | |
Protected Attributes inherited from chrono::vehicle::ChTrackAssemblyBand | |
std::shared_ptr< ChSprocketBand > | m_sprocket |
sprocket subsystem | |
double | m_sprocket_offset |
Protected Attributes inherited from chrono::vehicle::ChTrackAssembly | |
VehicleSide | m_side |
assembly on left/right vehicle side | |
std::shared_ptr< ChIdler > | m_idler |
idler (and tensioner) subsystem | |
std::shared_ptr< ChTrackBrake > | m_brake |
sprocket brake | |
ChRoadWheelAssemblyList | m_suspensions |
road-wheel assemblies | |
ChRollerList | m_rollers |
roller subsystems | |
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 | |
Friends | |
class | BroadphaseCulling |
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
◆ ChTrackAssemblyBandANCF()
chrono::vehicle::ChTrackAssemblyBandANCF::ChTrackAssemblyBandANCF | ( | const std::string & | name, |
VehicleSide | side | ||
) |
Construct an ANCFshell-based track assembly on the specified vehicle side.
- Parameters
-
[in] name name of the subsystem [in] side assembly on left/right vehicle side
Member Function Documentation
◆ SetLayerFiberAngles()
|
protected |
Set fiber angle for the three layers.
- Parameters
-
angle_1 fiber angle for bottom (outter) rubber layer (default: 0 rad) angle_2 fiber angle for middle steel layer (default: 0 rad) angle_3 fiber angle for top (inner) rubber layer (default: 0 rad)
◆ SetRubberLayerMaterial()
|
protected |
Set material properties of the rubber layers (isotropic material).
- Parameters
-
rho density (default: 1100) E elasticity moduli, E_x, E_y, E_z (default: 1e7) nu Poisson ratios, nu_x, nu_y, nu_z (default: 0.49) G shear moduli, G_x, Gy, Gz (default: 0.5 * E / (1 + nu))
◆ SetSteelLayerMaterial()
|
protected |
Set material properties of the steel layer (isotropic material).
- Parameters
-
rho density (default: 1100) E elasticity moduli, E_x, E_y, E_z (default: 1e7) nu Poisson ratios, nu_x, nu_y, nu_z (default: 0.3) G shear moduli, G_x, Gy, Gz (default: 0.5 * E / (1 + nu))
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBandANCF.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBandANCF.cpp