chrono::vehicle::TrackAssemblyBandANCF Class Reference
Description
Band-ANCF track assembly model constructed from a JSON specification file.
#include <TrackAssemblyBandANCF.h>
Inheritance diagram for chrono::vehicle::TrackAssemblyBandANCF:
Collaboration diagram for chrono::vehicle::TrackAssemblyBandANCF:
Public Member Functions | |
| TrackAssemblyBandANCF (const std::string &filename) | |
| TrackAssemblyBandANCF (const rapidjson::Document &d) | |
| virtual const ChVector | GetSprocketLocation () const override |
| Get the relative location of the sprocket subsystem. More... | |
| virtual const ChVector | GetIdlerLocation () const override |
| Get the relative location of the idler subsystem. More... | |
| virtual const ChVector | GetRoadWhelAssemblyLocation (int which) const override |
| Get the relative location of the specified suspension subsystem. More... | |
| virtual const ChVector | GetRollerLocation (int which) const override |
| Get the relative location of the specified roller subsystem. More... | |
 Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyBandANCF | |
| ChTrackAssemblyBandANCF (const std::string &name, VehicleSide side) | |
| Construct an ANCFshell-based track assembly on the specified vehicle side. More... | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| void | SetContactSurfaceType (ContactSurfaceType type) |
| Set the type of contact surface (default: TRIANGLE_MESH). | |
| virtual size_t | GetNumTrackShoes () const override |
| Get the number of track shoes. | |
| virtual std::shared_ptr< ChTrackShoe > | GetTrackShoe (size_t id) const override |
| Get a handle to the specified track shoe subsystem. | |
| Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand | |
| ChTrackAssemblyBand (const std::string &name, VehicleSide side) | |
| virtual std::shared_ptr< ChSprocket > | GetSprocket () const override |
| Get a handle to the sprocket. | |
| Public Member Functions inherited from chrono::vehicle::ChTrackAssembly | |
| 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. | |
| 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. | |
| 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... | |
| 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. | |
| void | SetVisualizationType (VisualizationType vis) |
| Set the visualization mode for this subsystem. | |
| bool | OutputEnabled () const |
| Return the output state for this subsystem. | |
Additional Inherited Members | |
| Public Types inherited from chrono::vehicle::ChTrackAssemblyBandANCF | |
| enum | ContactSurfaceType { NONE, NODE_CLOUD, TRIANGLE_MESH } |
| Type of the mesh contact surface. | |
| 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 Member Functions inherited from chrono::vehicle::ChTrackAssemblyBandANCF | |
| void | SetRubberLayerMaterial (double rho, const ChVector<> &E, const ChVector<> &nu, const ChVector<> &G) |
| Set material properties of the rubber layers (isotropic material). More... | |
| void | SetSteelLayerMaterial (double rho, const ChVector<> &E, const ChVector<> &nu, const ChVector<> &G) |
| Set material properties of the steel layer (isotropic material). More... | |
| void | SetElementStructuralDamping (double alpha) |
| Set element structural damping (default: 0.05). | |
| void | SetLayerFiberAngles (double angle_1, double angle_2, double angle_3) |
| Set fiber angle for the three layers. More... | |
| Protected Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand | |
| bool | FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2<>> &shoe_points) |
| Assembly Algorithm Utility Functions. | |
| void | FindCircleTangentPoints (ChVector2<> Circle1Pos, double Circle1Rad, ChVector2<> Circle2Pos, double Circle2Rad, ChVector2<> &Tan1Pnt1, ChVector2<> &Tan1Pnt2, ChVector2<> &Tan2Pnt1, ChVector2<> &Tan2Pnt2) |
| void | CheckCircleCircle (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius) |
| void | CheckCircleLine (bool &found, ChVector2<> &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2<> &StartingPoint, double Radius) |
| Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly | |
| ChTrackAssembly (const std::string &name, VehicleSide side) | |
| 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. | |
| 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::ChTrackAssemblyBandANCF | |
| ChTrackShoeBandANCFList | m_shoes |
| track shoes | |
| std::shared_ptr< fea::ChMesh > | m_track_mesh |
| web mesh | |
| std::shared_ptr< ChMaterialSurface > | m_contact_material |
| contact material for the web mesh | |
| ContactSurfaceType | m_contact_type |
| type of contact surface model (node cloud or mesh) | |
| Protected Attributes inherited from chrono::vehicle::ChTrackAssemblyBand | |
| std::shared_ptr< ChSprocketBand > | m_sprocket |
| sprocket subsystem | |
| double | m_sprocket_offset |
| Protected Attributes inherited from chrono::vehicle::ChTrackAssembly | |
| 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 | |
Member Function Documentation
◆ GetIdlerLocation()
|
inlineoverridevirtual |
Get the relative location of the idler subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Implements chrono::vehicle::ChTrackAssembly.
◆ GetRoadWhelAssemblyLocation()
|
inlineoverridevirtual |
Get the relative location of the specified suspension subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Implements chrono::vehicle::ChTrackAssembly.
◆ GetRollerLocation()
|
inlineoverridevirtual |
Get the relative location of the specified roller subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Reimplemented from chrono::vehicle::ChTrackAssembly.
◆ GetSprocketLocation()
|
inlineoverridevirtual |
Get the relative location of the sprocket subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Implements chrono::vehicle::ChTrackAssembly.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/TrackAssemblyBandANCF.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/TrackAssemblyBandANCF.cpp
