Description

Idler and tensioner model for the M113 vehicle (left side).

#include <Marder_Idler.h>

Inheritance diagram for chrono::vehicle::marder::Marder_IdlerLeft:

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Collaboration diagram for chrono::vehicle::marder::Marder_IdlerLeft:

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Public Member Functions
virtual VehicleSide	GetVehicleSide () const override

virtual std::string	GetMeshFile () const override

Public Member Functions inherited from chrono::vehicle::marder::Marder_Idler
virtual const ChVector	GetLocation (PointId which) override
	Return the location of the specified hardpoint. More...

virtual double	GetWheelMass () const override
	Return the mass of the idler wheel body.

virtual const ChVector &	GetWheelInertia () override
	Return the moments of inertia of the idler wheel body.

virtual double	GetWheelRadius () const override
	Return the radius of the idler wheel.

virtual double	GetWheelWidth () const override
	Return the total width of the idler wheel.

virtual double	GetWheelGap () const override
	Return the gap width.

virtual double	GetCarrierMass () const override
	Return the mass of the carrier body.

virtual const ChVector &	GetCarrierInertia () override
	Return the moments of inertia of the carrier body.

virtual double	GetCarrierVisRadius () const override
	Return a visualization radius for the carrier body.

virtual double	GetPrismaticPitchAngle () const override
	Return the pitch angle of the prismatic joint.

virtual std::shared_ptr< ChLinkTSDA::ForceFunctor >	GetTensionerForceCallback () const override
	Return the functor object for spring force.

virtual double	GetTensionerFreeLength () const override
	Return the free length for the tensioner spring.

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

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

virtual GuidePinType	GetType () const final override
	Return the type of track shoe consistent with this idler.

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override
	Initialize this idler subsystem. More...

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

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

std::shared_ptr< ChBody >	GetWheelBody () const
	Get a handle to the road wheel body.

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

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

virtual double	GetMass () const
	Get the mass of the idler 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.

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 Types inherited from chrono::vehicle::ChIdler
enum	PointId { WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER, TSDA_CHASSIS, NUM_POINTS }
	Identifiers for the various hardpoints. More...

Protected Member Functions inherited from chrono::vehicle::marder::Marder_Idler
	Marder_Idler (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 assets for the idler subsystem.

Protected Member Functions inherited from chrono::vehicle::ChIdler
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 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::marder::Marder_Idler
std::shared_ptr< ChLinkTSDA::ForceFunctor >	m_tensionerForceCB

Protected Attributes inherited from chrono::vehicle::ChIdler
std::shared_ptr< ChBody >	m_wheel
	handle to the idler wheel body

std::shared_ptr< ChBody >	m_carrier
	handle to the carrier body

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	handle to wheel-carrier revolute joint

std::shared_ptr< ChLinkLockPrismatic >	m_prismatic
	handle to carrier-chassis translational joint

std::shared_ptr< ChLinkTSDA >	m_tensioner
	handle to the TSDA tensioner element

std::shared_ptr< ChMaterialSurface >	m_material
	contact material;

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

Static Protected Attributes inherited from chrono::vehicle::marder::Marder_Idler
static const double	m_wheel_mass = 25.76

static const ChVector	m_wheel_inertia

static const double	m_wheel_radius = 0.334

static const double	m_wheel_width = 0.181

static const double	m_wheel_gap = 0.051

static const double	m_carrier_mass = 10

static const ChVector	m_carrier_inertia

static const double	m_carrier_radius = 0.02

static const double	m_tensioner_l0 = 0.75

static const double	m_tensioner_k = 2e6

static const double	m_tensioner_c = Marder_Idler::m_tensioner_k * 0.05

static const double	m_tensioner_f = 9.81 * 25000.0 / 10.0

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Idler.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Idler.cpp

Description

Public Member Functions

Additional Inherited Members