Description

Distance idler model constructed with data from file (JSON format).

#include <DistanceIdler.h>

Inheritance diagram for chrono::vehicle::DistanceIdler:

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Collaboration diagram for chrono::vehicle::DistanceIdler:

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Public Member Functions
	DistanceIdler (const std::string &filename)

	DistanceIdler (const rapidjson::Document &d)

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	GetTensionerExtensionTime () const override
	Return the time to extend the tensioner to prescribed distance.

virtual double	GetTensionerDistance () const override
	Return the set distance in the tensioner.

Public Member Functions inherited from chrono::vehicle::ChDistanceIdler
	ChDistanceIdler (const std::string &name)

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

virtual std::shared_ptr< ChBody >	GetCarrierBody () const override
	Return a handle to the carrier body to which the idler wheel is connected.

std::shared_ptr< ChLinkLinActuator >	GetTensioner () const
	Get the tensioner motor element.

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

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the idler subsystem. More...

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the idler subsystem. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

Public Member Functions inherited from chrono::vehicle::ChIdler
GuidePinType	GetType () const
	Return the type of track shoe consistent with this road wheel.

std::shared_ptr< ChTrackWheel >	GetIdlerWheel () const
	Return the idler wheel subsystem.

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

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

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

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.

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.

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

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::ChDistanceIdler
enum	PointId { CARRIER, CARRIER_WHEEL, CARRIER_CHASSIS, MOTOR_CARRIER, MOTOR_ARM, NUM_POINTS }
	Identifiers for the various hardpoints. More...

Protected Member Functions inherited from chrono::vehicle::ChDistanceIdler
virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

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::ChIdler
	ChIdler (const std::string &name)
	Construct an idler subsystem with given name.

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...

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).

Protected Attributes inherited from chrono::vehicle::ChDistanceIdler
std::shared_ptr< ChBody >	m_carrier
	carrier body

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	carrier-chassis revolute joint

std::shared_ptr< ChLinkLinActuator >	m_tensioner
	linear motor tensioner element

Protected Attributes inherited from chrono::vehicle::ChIdler
GuidePinType	m_type
	type of the track shoe matching this road wheel

ChVector	m_rel_loc
	idler subsystem location relative to chassis

std::shared_ptr< ChTrackWheel >	m_idler_wheel
	idler-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

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/idler/DistanceIdler.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/idler/DistanceIdler.cpp

Description

Public Member Functions

Additional Inherited Members