Description

Base class for a double-pin track shoe (template definition).

#include <ChTrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeDoublePin:

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Collaboration diagram for chrono::vehicle::ChTrackShoeDoublePin:

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Public Member Functions
	ChTrackShoeDoublePin (const std::string &name)

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

virtual double	GetMass () const override
	Get the mass of the track shoe.

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

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

void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector<> &loc_connector_L, const ChVector<> &loc_connector_R, const ChQuaternion<> &rot_connector)
	Initialize this track shoe system. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the track shoe subsystem.

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

Public Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented
std::shared_ptr< ChMaterialSurface >	GetSprocketContactMaterial () const
	Get the contact material for the track shoe part interacting with the sprocket.

Public Member Functions inherited from chrono::vehicle::ChTrackShoe
	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 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.

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
virtual double	GetShoeMass () const =0
	Return the mass of the shoe body.

virtual const ChVector &	GetShoeInertia () const =0
	Return the moments of inertia of the shoe body.

virtual double	GetShoeLength () const =0
	Return shoe length (distance between pins).

virtual double	GetShoeWidth () const =0
	Return shoe width (separation between connectors).

virtual double	GetConnectorMass () const =0
	Return the mass of a connector body.

virtual const ChVector &	GetConnectorInertia () const =0
	Return the moments of inertia of a connector body.

virtual double	GetConnectorLength () const =0
	Return the length of a connector body (distance between pins).

virtual double	GetConnectorWidth () const =0
	Return the width of a connector body (for visualization only).

virtual double	GetConnectorRadius () const =0
	Return the radius of a connector body.

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::ChTrackShoeSegmented
	ChTrackShoeSegmented (const std::string &name)

virtual void	CreateContactMaterials (ChContactMethod contact_method)=0
	Create the contact materials for the shoe, consistent with the specified contact method. More...

Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
void	SetIndex (size_t index)
	Set the index of this track shoe within its containing track assembly.

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
std::shared_ptr< ChBody >	m_connector_L
	left connector body

std::shared_ptr< ChBody >	m_connector_R
	right connector body

std::shared_ptr< ChVehicleJoint >	m_revolute_L
	shoe - left connector joint

std::shared_ptr< ChVehicleJoint >	m_revolute_R
	shoe - right connector joint

std::shared_ptr< ChLinkRotSpringCB >	m_rsda_L
	optional RSDA on left revolute

std::shared_ptr< ChLinkRotSpringCB >	m_rsda_R
	optional RSDA on right revolute

std::shared_ptr< ChVehicleJoint >	m_connection_joint_L
	connection to neighboring track shoe

std::shared_ptr< ChVehicleJoint >	m_connection_joint_R
	connection to neighboring track shoe

std::shared_ptr< ChLinkRotSpringCB >	m_connection_rsda_L
	optional RSDA on connection

std::shared_ptr< ChLinkRotSpringCB >	m_connection_rsda_R
	optional RSDA on connection

Protected Attributes inherited from chrono::vehicle::ChTrackShoeSegmented
ChVehicleGeometry	m_geometry
	collection of visualization and collision shapes

std::shared_ptr< ChMaterialSurface >	m_shoe_sprk_material
	contact material for shoe shape contacting sprocket

Protected Attributes inherited from chrono::vehicle::ChTrackShoe
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	ChSprocketDoublePin

class	SprocketDoublePinContactCB

class	ChTrackAssemblyDoublePin

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

◆ ChTrackShoeDoublePin()

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

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeDoublePin::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.

◆ GetPitch()

double chrono::vehicle::ChTrackShoeDoublePin::GetPitch ( ) const

overridevirtual

Return the pitch length of the track shoe.

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

Implements chrono::vehicle::ChTrackShoe.

◆ Initialize() [1/2]

void chrono::vehicle::ChTrackShoeDoublePin::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector<> &	loc_shoe,
		const ChQuaternion<> &	rot_shoe,
		const ChVector<> &	loc_connector_L,
		const ChVector<> &	loc_connector_R,
		const ChQuaternion<> &	rot_connector
	)

Initialize this track shoe system.

This version specifies the locations and orientations of the shoe body and of the connector bodies (relative to the chassis frame).

Parameters

[in]	chassis	chassis body
[in]	loc_shoe	location of shoe body
[in]	rot_shoe	orientation of shoe body
[in]	loc_connector_L	location of left connector body
[in]	loc_connector_R	location of right connector body
[in]	rot_connector	orientation of connector bodies

◆ Initialize() [2/2]

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

overridevirtual

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). This version initializes the bodies of a double-pin track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

Parameters

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

Implements chrono::vehicle::ChTrackShoe.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeDoublePin.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeDoublePin.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackShoeDoublePin()

Member Function Documentation

◆ ExportComponentList()

◆ GetPitch()

◆ Initialize() [1/2]

◆ Initialize() [2/2]