Description
Base class for a continuous band track shoe using an ANCFshell-based web.
(template definition)
#include <ChTrackShoeBandANCF.h>
Public Types | |
enum | ElementType { ElementType::ANCF_4, ElementType::ANCF_8 } |
Public Member Functions | |
ChTrackShoeBandANCF (const std::string &name, ElementType element_type=ElementType::ANCF_4) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override |
Initialize this track shoe subsystem. 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::ChTrackShoeBand | |
ChTrackShoeBand (const std::string &name) | |
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... | |
void | WriteTreadVisualizationMesh (const std::string &out_dir) |
Write the procedurally-generated tread body visualization mesh to a Wavefront OBJ file. | |
void | ExportTreadVisualizationMeshPovray (const std::string &out_dir) |
Export the procedurally-generated tread body visualization mesh as a macro in a PovRay include file. | |
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... | |
size_t | GetIndex () const |
Get the index of this track shoe within its containing track assembly. | |
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. | |
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. | |
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 int | GetNumElementsLength () const =0 |
Get the number of shell elements across the web length (from tread body to tread body). | |
virtual int | GetNumElementsWidth () const =0 |
Get the number of shell elements across the web width (side to side). | |
virtual double | GetSteelLayerThickness () const =0 |
Get thickness of the inner steel layer. More... | |
Protected Member Functions inherited from chrono::vehicle::ChTrackShoeBand | |
virtual double | GetTreadMass () const =0 |
Return the mass of the tread body. | |
virtual double | GetWebMass () const =0 |
Return the mass of the web. More... | |
virtual const ChVector & | GetTreadInertia () const =0 |
Return the moments of inertia of the tread body. | |
virtual const ChVector & | GetWebInertia () const =0 |
Return the moments of inertia of the web. More... | |
virtual const ChVector & | GetGuideBoxDimensions () const =0 |
Return the dimensions of the contact box for the guiding pin. More... | |
virtual double | GetGuideBoxOffsetX () const =0 |
Return the offset (in X direction) of the guiding pin. | |
virtual ChVector | GetLateralContactPoint () const override |
Return the location of the guiding pin center, expressed in the shoe reference frame. | |
virtual double | GetBeltWidth () const =0 |
Return the width of the CB track belt (in the Y direction) | |
virtual double | GetToothTipLength () const =0 |
Return the length of the flat tip of the tread tooth tip (in the X direction) | |
virtual double | GetToothBaseLength () const =0 |
Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends. | |
virtual double | GetToothWidth () const =0 |
Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction) | |
virtual double | GetToothHeight () const =0 |
Return the height from the base to the tip of the tread tooth profile (in the Z direction) | |
virtual double | GetToothArcRadius () const =0 |
Return the radius of the tooth profile arc that connects the tooth tip and base lines. | |
virtual double | GetWebLength () const =0 |
Return the combined length of all of the web sections (in the X direction) | |
virtual double | GetWebThickness () const =0 |
Return the thickness of the web section (in the Z direction) | |
virtual double | GetTreadLength () const =0 |
Return the length of the tread below the web area (in the X direction, tread pad for ground contact) | |
virtual double | GetTreadThickness () const =0 |
Return the thickness of the tread below the web area (tread pad for ground contact) | |
virtual const std::string & | GetTreadVisualizationMeshName () const =0 |
Specify the name assigned to the procedurally-generated tread body visualization mesh. | |
virtual void | CreateContactMaterials (ChContactMethod contact_method)=0 |
Create the contact materials. More... | |
void | AddShoeContact () |
Add contact geometry for the tread body. More... | |
void | AddShoeVisualization () |
Add visualization of the tread body, based on primitives corresponding to the contact shapes. More... | |
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 | ChTrackAssemblyBandANCF |
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::ChTrackShoeBand | |
static ChColor | GetColor (size_t index) |
Get index-specific color (for visualization) | |
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::ChTrackShoeBand | |
std::shared_ptr< ChMaterialSurface > | m_tooth_material |
contact material for teeth (sprocket interaction) | |
std::shared_ptr< ChMaterialSurface > | m_body_material |
contact material for main body (wheel interaction) | |
std::shared_ptr< ChMaterialSurface > | m_pad_material |
contact material for pad (ground interaction) | |
std::shared_ptr< ChMaterialSurface > | m_guide_material |
contact material for guide pin (wheel interaction) | |
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 | |
Member Enumeration Documentation
◆ ElementType
Constructor & Destructor Documentation
◆ ChTrackShoeBandANCF()
chrono::vehicle::ChTrackShoeBandANCF::ChTrackShoeBandANCF | ( | const std::string & | name, |
ElementType | element_type = ElementType::ANCF_4 |
||
) |
- Parameters
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[in] name name of the subsystem [in] element_type ANCF shell element type
Member Function Documentation
◆ GetSteelLayerThickness()
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protectedpure virtual |
Get thickness of the inner steel layer.
The rubber layer thicknesses are obtained from the total web thickness.
Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandANCF.
◆ Initialize()
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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 CB rigid-link track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.
The node numbering is in ccw fashion as in the following scheme: v ^ D o--—G--—o C | | | –H--—+--—F-> u | | | A o--—E--—o B
- Parameters
-
[in] chassis handle to the chassis body [in] location location relative to the chassis frame [in] rotation orientation relative to the chassis frame
Reimplemented from chrono::vehicle::ChTrackShoeBand.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeBandANCF.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeBandANCF.cpp