Description

Definition of a track assembly.

A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of rollers, a set of suspensions (road-wheel assemblies), and a collection of track shoes.

#include <ChTrackAssembly.h>

Inheritance diagram for chrono::vehicle::ChTrackAssembly:

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Collaboration diagram for chrono::vehicle::ChTrackAssembly:

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Public Member Functions
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.

virtual size_t	GetNumTrackShoes () const =0
	Get the number of track shoes.

virtual std::shared_ptr< ChSprocket >	GetSprocket () const =0
	Get a handle to the sprocket.

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.

virtual std::shared_ptr< ChTrackShoe >	GetTrackShoe (size_t id) const =0
	Get a handle to the specified track shoe 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	SetWheelCollisionType (bool roadwheel_as_cylinder, bool idler_as_cylinder, bool roller_as_cylinder)
	Set collision shape type for wheels.

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.

bool	IsRoadwheelCylinder () const

bool	IsIdlerCylinder () const

bool	IsRolerCylinder () const

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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

virtual void	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Member Functions
	ChTrackAssembly (const std::string &name, VehicleSide side)

virtual bool	Assemble (std::shared_ptr< ChBodyAuxRef > chassis)=0
	Assemble track shoes over wheels. More...

virtual void	RemoveTrackShoes ()=0
	Remove all track shoes from assembly.

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
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

bool	m_roadwheel_as_cylinder

bool	m_idler_as_cylinder

bool	m_roller_as_cylinder

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	ChTrackedVehicle

class	ChTrackTestRig

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

◆ ChTrackAssembly()

chrono::vehicle::ChTrackAssembly::ChTrackAssembly	(	const std::string &	name,
		VehicleSide	side
	)

protected

Parameters

[in]	name	name of the subsystem
[in]	side	assembly on left/right vehicle side

Member Function Documentation

◆ Assemble()

virtual bool chrono::vehicle::ChTrackAssembly::Assemble ( std::shared_ptr< ChBodyAuxRef > chassis )

protectedpure virtual

Assemble track shoes over wheels.

Return true if the track shoes were initialized in a counter clockwise direction and false otherwise.

◆ ExportComponentList()

void chrono::vehicle::ChTrackAssembly::ExportComponentList ( rapidjson::Document & jsonDocument ) const

overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

◆ GetIdlerLocation()

virtual const ChVector chrono::vehicle::ChTrackAssembly::GetIdlerLocation ( ) const

pure virtual

Get the relative location of the idler subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implemented in chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, chrono::vehicle::m113::M113_TrackAssemblyBandANCF, chrono::vehicle::m113::M113_TrackAssemblyBandBushing, chrono::vehicle::m113::M113_TrackAssemblyDoublePin, chrono::vehicle::m113::M113_TrackAssemblySinglePin, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetMass()

double chrono::vehicle::ChTrackAssembly::GetMass ( ) const

Get the total mass of the track assembly.

This includes the masses of the sprocket, idler, suspensions, and track shoes.

◆ GetRoadWhelAssemblyLocation()

virtual const ChVector chrono::vehicle::ChTrackAssembly::GetRoadWhelAssemblyLocation ( int which ) const

pure virtual

Get the relative location of the specified suspension subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implemented in chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, chrono::vehicle::m113::M113_TrackAssemblyBandANCF, chrono::vehicle::m113::M113_TrackAssemblyBandBushing, chrono::vehicle::m113::M113_TrackAssemblyDoublePin, chrono::vehicle::m113::M113_TrackAssemblySinglePin, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetRollerLocation()

virtual const ChVector chrono::vehicle::ChTrackAssembly::GetRollerLocation ( int which ) const

inlinevirtual

Get the relative location of the specified roller subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Reimplemented in chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetSprocketLocation()

virtual const ChVector chrono::vehicle::ChTrackAssembly::GetSprocketLocation ( ) const

pure virtual

Get the relative location of the sprocket subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implemented in chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, chrono::vehicle::m113::M113_TrackAssemblyBandANCF, chrono::vehicle::m113::M113_TrackAssemblyBandBushing, chrono::vehicle::m113::M113_TrackAssemblyDoublePin, chrono::vehicle::m113::M113_TrackAssemblySinglePin, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetTrackShoeAngVel()

ChVector chrono::vehicle::ChTrackAssembly::GetTrackShoeAngVel ( size_t id ) const

inline

Get the angular velocity of the specified track shoe.

Return the angular velocity of the shoe body frame, expressed in the global reference frame.

◆ GetTrackShoeLinVel()

const ChVector& chrono::vehicle::ChTrackAssembly::GetTrackShoeLinVel ( size_t id ) const

inline

Get the linear velocity of the specified track shoe.

Return the linear velocity of the shoe body center, expressed in the global reference frame.

◆ GetTrackShoePos()

const ChVector& chrono::vehicle::ChTrackAssembly::GetTrackShoePos ( size_t id ) const

inline

Get the global location of the specified track shoe.

The returned location is that of the shoe body in the track shoe subsystem.

◆ GetTrackShoeRot()

const ChQuaternion& chrono::vehicle::ChTrackAssembly::GetTrackShoeRot ( size_t id ) const

inline

Get the orientation of the specified track shoe.

The track shoe body orientation is returned as a quaternion representing a rotation with respect to the global reference frame. This is the orientation of the shoe body in the track shoe subsystem.

◆ GetTrackShoeState()

BodyState chrono::vehicle::ChTrackAssembly::GetTrackShoeState ( size_t id ) const

Get the complete state for the specified track shoe.

This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame.

◆ GetTrackShoeStates()

void chrono::vehicle::ChTrackAssembly::GetTrackShoeStates ( BodyStates & states ) const

Get the complete states for all track shoes.

These include the locations, orientations, linear and angular velocities for all track shoes in this track assembly, all expressed in the global reference frame. It is assumed that the vector of body states was properly sized.

◆ Initialize()

void chrono::vehicle::ChTrackAssembly::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector<> &	location,
		bool	create_shoes = `true`
	)

Initialize this track assembly subsystem.

The subsystem is initialized by attaching it to the specified chassis at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the track assembly reference frame is always aligned with the chassis reference frame.

Parameters

[in]	chassis	chassis subsystem
[in]	location	location relative to the chassis frame
[in]	create_shoes	control creation of the actual track

◆ SetOutput()

void chrono::vehicle::ChTrackAssembly::SetOutput ( bool state )

overridevirtual

Enable/disable output for this subsystem.

This function overrides the output setting for all components of this track assembly.

Reimplemented from chrono::vehicle::ChPart.

◆ Synchronize()

void chrono::vehicle::ChTrackAssembly::Synchronize	(	double	time,
		double	braking,
		const TerrainForces &	shoe_forces
	)

Update the state of this track assembly at the current time.

Parameters

[in]	time	current time
[in]	braking	braking driver input
[in]	shoe_forces	vector of tire force structures

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackAssembly.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackAssembly.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackAssembly()

Member Function Documentation

◆ Assemble()

◆ ExportComponentList()

◆ GetIdlerLocation()

◆ GetMass()

◆ GetRoadWhelAssemblyLocation()

◆ GetRollerLocation()

◆ GetSprocketLocation()

◆ GetTrackShoeAngVel()

◆ GetTrackShoeLinVel()

◆ GetTrackShoePos()

◆ GetTrackShoeRot()

◆ GetTrackShoeState()

◆ GetTrackShoeStates()

◆ Initialize()

◆ SetOutput()

◆ Synchronize()