Public Member Functions |
Protected Member Functions |
Static Protected Attributes |
List of all members
chrono::vehicle::m113::M113_SprocketBand Class Referenceabstract
Description
M113 sprocket subsystem for continuous band track (base class).
#include <M113_SprocketBand.h>
Inheritance diagram for chrono::vehicle::m113::M113_SprocketBand:
Collaboration diagram for chrono::vehicle::m113::M113_SprocketBand:
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 | GetBaseWidth () const override |
| Return the base width of the sprocket profile length of the chord where the tooth profile meets the sprocket's outer radius. | |
| virtual double | GetTipWidth () const override |
| Return the width of the inner tip of the sprocket profile. | |
| virtual double | GetToothDepth () const override |
| Return the depth of the sprocket profile measured as the distance from the center of the profile tip line to the center of the base width line. | |
| virtual double | GetArcRadius () const override |
| Return the radius of the (concave) tooth circular arc. | |
| virtual double | GetLateralBacklash () const override |
| Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking). | |
 Public Member Functions inherited from chrono::vehicle::ChSprocketBand | |
| ChSprocketBand (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 () const override |
| Return the 2D gear profile. More... | |
| virtual std::shared_ptr< 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. | |
| std::shared_ptr< ChMaterialSurface > | GetContactMaterial () const |
| Get the sprocket contact material. | |
| void | DisableLateralContact () |
| Disable lateral contact for preventing detracking (default: enabled). | |
| 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 torque to the sprocket's axle (for debugging and testing). More... | |
| std::shared_ptr< geometry::ChTriangleMeshConnected > | CreateVisualizationMesh (double radius, double width, double delta, ChVector< float > color=ChVector< float >(1, 1, 1)) const |
| Utility function to create a sprocket visualization mesh. 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. | |
| 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_SprocketBand (const std::string &name) | |
| virtual void | CreateContactMaterial (ChContactMethod contact_method) override |
| Create the contact material consistent with the specified contact method. | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization of the sprocket. | |
| 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. | |
| 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 = 17 |
| static const double | m_gear_mass = 27.68 |
| static const ChVector | m_gear_inertia |
| static const double | m_axle_inertia = 0.4 |
| static const double | m_separation = 0.278 |
| static const double | m_gear_outer_radius = 0.2307 * 1.04 |
| static const double | m_gear_base_width = 0.0530 * 1.04 |
| static const double | m_gear_tip_width = 0.0128 * 1.04 |
| static const double | m_gear_tooth_depth = 0.0387 * 1.04 |
| static const double | m_gear_arc_radius = 0.0542 * 1.04 |
| static const double | m_gear_RA = 0.2307 * 1.04 |
| static const double | m_lateral_backlash = 0.02 |
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 | |
| std::shared_ptr< ChMaterialSurface > | m_material |
| contact material; | |
| bool | m_lateral_contact |
| if 'true', enable lateral conatact to prevent detracking | |
| 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 Function Documentation
◆ GetAssemblyRadius()
|
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_SprocketBand.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketBand.cpp
