Description

Base class for a tracked vehicle sprocket.

A sprocket is responsible for contact processing with the track shoes of the containing track assembly.

#include <ChSprocket.h>

Inheritance diagram for chrono::vehicle::ChSprocket:
Collaboration diagram for chrono::vehicle::ChSprocket:

Public Member Functions

virtual int GetNumTeeth () const =0
 Get the number of teeth of the gear.
 
virtual double GetAssemblyRadius () const =0
 Get the track assembly radius. More...
 
virtual double GetAddendumRadius () const =0
 Get the addendum radius. More...
 
std::shared_ptr< ChBodyGetGearBody () const
 Get a handle to the gear body.
 
std::shared_ptr< ChShaftGetAxle () const
 Get a handle to the axle shaft.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
double GetAxleSpeed () const
 Get the angular speed of the axle.
 
void SetCollide (bool val)
 Turn on/off collision flag for the gear wheel.
 
std::shared_ptr< ChMaterialSurfaceGetContactMaterial () const
 Get the sprocket contact material.
 
void DisableLateralContact ()
 Disable lateral contact for preventing detracking (default: enabled).
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track)
 Initialize this sprocket subsystem. More...
 
void ApplyAxleTorque (double torque)
 Apply the provided torque to the sprocket's axle (for debugging and testing). More...
 
std::shared_ptr< geometry::ChTriangleMeshConnectedCreateVisualizationMesh (double radius, double width, double delta, ChColor color=ChColor(1, 1, 1)) const
 Utility function to create a sprocket visualization mesh. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the sprocket subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the sprocket subsystem.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
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.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
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

 ChSprocket (const std::string &name)
 Construct a sprocket subsystem with given name.
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual double GetGearMass () const =0
 Return the mass of the gear body.
 
virtual const ChVectorGetGearInertia ()=0
 Return the moments of inertia of the gear body.
 
virtual double GetAxleInertia () const =0
 Return the inertia of the axle shaft.
 
virtual double GetSeparation () const =0
 Return the distance between the two gear profiles.
 
virtual double GetLateralBacklash () const =0
 Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking).
 
virtual std::shared_ptr< geometry::ChLinePathGetProfile () const =0
 Return the 2D gear profile. More...
 
virtual void CreateContactMaterial (ChContactMethod contact_method)=0
 Create the contact material consistent with the specified contact method.
 
virtual std::shared_ptr< ChSystem::CustomCollisionCallbackGetCollisionCallback (ChTrackAssembly *track)=0
 Return the custom collision callback object. More...
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object.
 
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
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

ChVector m_rel_loc
 sprocket subsystem location relative to chassis
 
std::shared_ptr< ChBodym_gear
 sprocket gear body
 
std::shared_ptr< ChShaftm_axle
 gear shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle
 gear-shaft connector
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 sprocket revolute joint
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
std::shared_ptr< ChSystem::CustomCollisionCallbackm_callback
 cached collision callback
 
bool m_lateral_contact
 if 'true', enable lateral conatact to prevent detracking
 
- 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
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

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< ChLinkRSDA >> 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.
 
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 

Member Function Documentation

◆ ApplyAxleTorque()

void chrono::vehicle::ChSprocket::ApplyAxleTorque ( double  torque)

Apply the provided torque to the sprocket's axle (for debugging and testing).

Note that this torque is added to any torque applied by the driveline. As such, this function should be called only after a call to the vehicle Synchronize function. A positive value corresponds to forward motion.

◆ CreateVisualizationMesh()

std::shared_ptr< geometry::ChTriangleMeshConnected > chrono::vehicle::ChSprocket::CreateVisualizationMesh ( double  radius,
double  width,
double  delta,
ChColor  color = ChColor(1, 1, 1) 
) const

Utility function to create a sprocket visualization mesh.

Parameters
radiusinner radius
widthgear width
deltaarclength between points
colormesh color

◆ GetAddendumRadius()

virtual double chrono::vehicle::ChSprocket::GetAddendumRadius ( ) const
pure virtual

◆ GetAssemblyRadius()

virtual double chrono::vehicle::ChSprocket::GetAssemblyRadius ( ) const
pure virtual

Get the track assembly radius.

This quantity is used during the automatic track assembly. It represents a safe distance from the sprocket gear center at which the track shoes can be instantiated.

Implemented in chrono::vehicle::m113::M113_SprocketBand, chrono::vehicle::m113::M113_SprocketDoublePin, chrono::vehicle::m113::M113_SprocketSinglePin, chrono::vehicle::marder::Marder_SprocketSinglePin, chrono::vehicle::SprocketBand, chrono::vehicle::SprocketDoublePin, and chrono::vehicle::SprocketSinglePin.

◆ GetCollisionCallback()

virtual std::shared_ptr<ChSystem::CustomCollisionCallback> chrono::vehicle::ChSprocket::GetCollisionCallback ( ChTrackAssembly track)
protectedpure virtual

Return the custom collision callback object.

Parameters
[in]trackpointer to containing track assembly

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ GetProfile()

virtual std::shared_ptr<geometry::ChLinePath> chrono::vehicle::ChSprocket::GetProfile ( ) const
protectedpure virtual

Return the 2D gear profile.

The gear profile, a ChLinePath geometric object, is made up of an arbitrary number of sub-paths of type ChLineArc or ChLineSegment sub-lines. These must be added in clockwise order, and the end of sub-path i must be coincident with beginning of sub-path i+1.

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ Initialize()

void chrono::vehicle::ChSprocket::Initialize ( std::shared_ptr< ChChassis chassis,
const ChVector<> &  location,
ChTrackAssembly track 
)
virtual

Initialize this sprocket subsystem.

The sprocket subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis).

Parameters
[in]chassisassociated chassis
[in]locationlocation relative to the chassis frame
[in]trackpointer to containing track assembly

◆ InitializeInertiaProperties()

void chrono::vehicle::ChSprocket::InitializeInertiaProperties ( )
overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChSprocket::UpdateInertiaProperties ( )
overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChSprocket.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChSprocket.cpp