Public Member Functions |
Protected Member Functions |
Protected Attributes |
Static Protected Attributes |
List of all members
chrono::vehicle::m113::M113_Idler Class Referenceabstract
Description
Idler and tensioner model for the M113 vehicle (base class).
#include <M113_Idler.h>
Inheritance diagram for chrono::vehicle::m113::M113_Idler:
Collaboration diagram for chrono::vehicle::m113::M113_Idler:
Public Member Functions | |
| 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, ChTrackAssembly *track) 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. | |
Protected Member Functions | |
| M113_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. | |
| virtual VehicleSide | GetVehicleSide () const =0 |
| virtual std::string | GetMeshFile () const =0 |
| 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... | |
Protected Attributes | |
| 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; | |
| ChTrackAssembly * | m_track |
| containing track assembly | |
| 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 | |
| static const double | m_wheel_mass = 25.76 |
| static const ChVector | m_wheel_inertia |
| static const double | m_wheel_radius = 0.255 |
| 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 = 1e6 |
| static const double | m_tensioner_c = 1.4e4 |
| static const double | m_tensioner_f = 2e4 |
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... | |
| 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. | |
Member Function Documentation
◆ GetLocation()
Return the location of the specified hardpoint.
The returned location must be expressed in the idler subsystem reference frame.
Implements chrono::vehicle::ChIdler.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_Idler.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_Idler.cpp
