chrono::vehicle::marder::Marder_IdlerRight Class Reference
Description
Idler and tensioner model for the M113 vehicle (right side).
#include <Marder_Idler.h>
Inheritance diagram for chrono::vehicle::marder::Marder_IdlerRight:
Collaboration diagram for chrono::vehicle::marder::Marder_IdlerRight:
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