Description

Base class for a track shoe.

#include <ChTrackShoe.h>

Inheritance diagram for chrono::vehicle::ChTrackShoe:

[legend]

Collaboration diagram for chrono::vehicle::ChTrackShoe:

Public Member Functions
	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.

virtual double	GetPitch () const =0
	Return the pitch length of the track shoe. More...

virtual double	GetMass () const =0
	Get the mass of the track shoe assembly.

virtual ChVector	GetLateralContactPoint () const =0
	Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...

void	SetCollide (bool val)
	Turn on/off collision flag for the shoe body.

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation)=0
	Initialize this track shoe subsystem. More...

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.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

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

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
void	SetIndex (size_t index)
	Set the index of this track shoe within its containing track assembly.

virtual void	Connect (std::shared_ptr< ChTrackShoe > next, ChTrackAssembly assembly, ChChassis chassis, bool ccw)=0
	Connect this track shoe to the specified neighbor. More...

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
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

Friends
class	ChTrackAssembly

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

◆ ChTrackShoe()

chrono::vehicle::ChTrackShoe::ChTrackShoe ( const std::string & name )

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ Connect()

virtual void chrono::vehicle::ChTrackShoe::Connect	(	std::shared_ptr< ChTrackShoe >	next,
		ChTrackAssembly *	assembly,
		ChChassis *	chassis,
		bool	ccw
	)

protectedpure virtual

Connect this track shoe to the specified neighbor.

This function must be called only after all track shoes have been initialized.

Parameters

[in]	next	handle to the neighbor track shoe
[in]	assembly	containing track assembly
[in]	chassis	associated chassis
[in]	ccw	track assembled in counter clockwise direction

◆ GetLateralContactPoint()

virtual ChVector chrono::vehicle::ChTrackShoe::GetLateralContactPoint ( ) const

pure virtual

Return the location for lateral contact with the sprocket, expressed in the shoe reference frame.

This point, which must be in the median plane of the track shoe, is used to enforce lateral contact with the sprocket as a detracking prevention mechanism. For track shoes with a central guiding pin, this can be the center of the guiding pin collision shape.

Implemented in chrono::vehicle::ChTrackShoeBand, chrono::vehicle::TrackShoeDoublePin, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::TrackShoeSinglePin, and chrono::vehicle::m113::M113_TrackShoeDoublePin.

◆ GetPitch()

virtual double chrono::vehicle::ChTrackShoe::GetPitch ( ) const

pure virtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implemented in chrono::vehicle::ChTrackShoeBand, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::ChTrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

◆ GetType()

virtual GuidePinType chrono::vehicle::ChTrackShoe::GetType ( ) const

pure virtual

Return the type of track shoe (guiding pin).

A derived class must specify the type of track shoe (which must be consistent with the idler and road wheels in the containing track assembly.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::m113::M113_TrackShoeDoublePin, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::TrackShoeBandANCF, chrono::vehicle::TrackShoeBandBushing, chrono::vehicle::TrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

◆ Initialize()

virtual void chrono::vehicle::ChTrackShoe::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	location,
		const ChQuaternion<> &	rotation
	)

pure virtual

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). All actual work is deferred to derived classes (subsystem templates) which must create the bodies, joints, etc. In addition, a derived class must set the track shoe body's identifier to BodyID::SHOES.

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame
[in]	rotation	orientation relative to the chassis frame

Implemented in chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeBand, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeSinglePin, and chrono::vehicle::ChTrackShoeBandBushing.

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

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackShoe()

Member Function Documentation

◆ Connect()

◆ GetLateralContactPoint()

◆ GetPitch()

◆ GetType()

◆ Initialize()