Description

Base class for a tracked vehicle suspension subsystem.

#include <ChTrackSuspension.h>

Inheritance diagram for chrono::vehicle::ChTrackSuspension:

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Collaboration diagram for chrono::vehicle::ChTrackSuspension:

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Classes
struct	ForceTorque
	Output structure for spring-damper forces or torques. More...

Public Member Functions
GuidePinType	GetType () const
	Return the type of track shoe consistent with this road wheel.

std::shared_ptr< ChTrackWheel >	GetRoadWheel () const
	Return a handle to the road wheel subsystem.

std::shared_ptr< ChBody >	GetWheelBody () const
	Return the body of the idler wheel.

virtual std::shared_ptr< ChBody >	GetCarrierBody () const =0
	Return a handle to the carrier body (the body to which the road-wheel is attached).

virtual double	GetCarrierAngle () const =0
	Return the current pitch angle of the carrier body. More...

std::shared_ptr< ChLinkLockRevolute >	GetWheelRevolute () const
	Get a handle to the revolute joint of the road-wheel.

double	GetWheelRadius () const
	Get the radius of the road wheel.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track)
	Initialize this suspension subsystem. More...

virtual ForceTorque	ReportSuspensionForce () const =0
	Return current suspension forces or torques, as appropriate (spring and shock). More...

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

virtual void	LogConstraintViolations ()=0
	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 ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () 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	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from this subsystem.

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

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

Protected Member Functions
	ChTrackSuspension (const std::string &name, bool has_shock, bool lock_arm)

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

Protected Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name.

virtual void	InitializeInertiaProperties ()=0
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties ()=0
	Update subsystem inertia properties. More...

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
GuidePinType	m_type
	type of the track shoe matching this road wheel

bool	m_has_shock
	specifies whether or not the suspension has a damper

bool	m_lock_arm
	specified whether the suspension arm is locked

ChVector	m_rel_loc
	suspension subsystem location relative to chassis

std::shared_ptr< ChTrackWheel >	m_road_wheel
	road-wheel subsystem

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

std::shared_ptr< ChPart >	m_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).

Constructor & Destructor Documentation

◆ ChTrackSuspension()

chrono::vehicle::ChTrackSuspension::ChTrackSuspension	(	const std::string &	name,
		bool	has_shock,
		bool	lock_arm
	)

protected

Parameters

[in]	name	name of the subsystem
[in]	has_shock	specify whether or not the suspension has a damper
[in]	lock_arm	if true, the suspension arm is locked

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackSuspension::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.

Reimplemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ GetCarrierAngle()

virtual double chrono::vehicle::ChTrackSuspension::GetCarrierAngle ( ) const

pure virtual

Return the current pitch angle of the carrier body.

This angle is measured in the x-z transversal plane, from the initial configuration, and follows the right-hand rule.

Implemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ Initialize()

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

virtual

Initialize this suspension subsystem.

The suspension 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). It is assumed that the suspension reference frame is always centered at the location of the road wheel and aligned with the chassis reference frame. Derived classes must call this base class implementation (which only initializes the road wheel).

Parameters

[in]	chassis	associated chassis subsystem
[in]	location	location relative to the chassis frame
[in]	track	containing track assembly

Reimplemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ ReportSuspensionForce()

virtual ForceTorque chrono::vehicle::ChTrackSuspension::ReportSuspensionForce ( ) const

pure virtual

Return current suspension forces or torques, as appropriate (spring and shock).

Different derived types (suspension templates) may load different quantities in the output struct.

Implemented in chrono::vehicle::ChTranslationalDamperSuspension, and chrono::vehicle::ChRotationalDamperSuspension.

◆ SetOutput()

void chrono::vehicle::ChTrackSuspension::SetOutput ( bool state )

overridevirtual

Enable/disable output for this subsystem.

This function overrides the output setting for all components of this suspension assembly.

Reimplemented from chrono::vehicle::ChPart.

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

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

Description

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members