Description

Definition of the m113 assembly.

This class encapsulates a concrete tracked vehicle model with parameters corresponding to a typical m113 and the powertrain model.

#include <M113.h>

Collaboration diagram for chrono::vehicle::m113::M113:

Public Member Functions

 M113 (ChSystem *system)
 
void SetContactMethod (ChContactMethod val)
 
void SetChassisFixed (bool val)
 
void SetChassisCollisionType (CollisionType val)
 
void SetWheelCollisionType (bool roadwheel_as_cylinder, bool idler_as_cylinder)
 
void SetBrakeType (BrakeType brake_type)
 
void SetTrackShoeType (TrackShoeType shoe_type)
 
void SetDoublePinTrackShoeType (DoublePinTrackShoeType topology)
 
void SetANCFTrackShoeElementType (ChTrackShoeBandANCF::ElementType type)
 
void SetANCFTrackShoeNumElements (int num_elements_length, int num_elements_width)
 
void SetANCFTrackShoeCurvatureConstraints (bool constrain_curvature)
 
void SetDrivelineType (DrivelineTypeTV driveline_type)
 
void SetPowertrainType (PowertrainModelType powertrain_type)
 
void SetTrackBushings (bool val)
 
void SetSuspensionBushings (bool val)
 
void SetTrackStiffness (bool val)
 
void SetInitPosition (const ChCoordsys<> &pos)
 
void SetInitFwdVel (double fwdVel)
 
void SetCollisionSystemType (collision::ChCollisionSystemType collsys_type)
 
void SetGyrationMode (bool val)
 
void SetAerodynamicDrag (double Cd, double area, double air_density)
 
void CreateTrack (bool val)
 
ChSystemGetSystem () const
 
ChTrackedVehicleGetVehicle () const
 
std::shared_ptr< ChChassisGetChassis () const
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 
std::shared_ptr< ChDrivelineTVGetDriveline () const
 
std::shared_ptr< ChPowertrainGetPowertrain () const
 
void Initialize ()
 
void SetChassisVisualizationType (VisualizationType vis)
 
void SetSprocketVisualizationType (VisualizationType vis)
 
void SetIdlerVisualizationType (VisualizationType vis)
 
void SetSuspensionVisualizationType (VisualizationType vis)
 
void SetIdlerWheelVisualizationType (VisualizationType vis)
 
void SetRoadWheelVisualizationType (VisualizationType vis)
 
void SetTrackShoeVisualizationType (VisualizationType vis)
 
void Synchronize (double time, const DriverInputs &driver_inputs, const TerrainForces &shoe_forces_left, const TerrainForces &shoe_forces_right)
 
void Advance (double step)
 
void LogConstraintViolations ()
 

Protected Attributes

ChContactMethod m_contactMethod
 
collision::ChCollisionSystemType m_collsysType
 
CollisionType m_chassisCollisionType
 
bool m_fixed
 
bool m_create_track
 
bool m_wheel_cyl
 
bool m_idler_cyl
 
BrakeType m_brake_type
 
TrackShoeType m_shoe_type
 
DoublePinTrackShoeType m_shoe_topology
 
ChTrackShoeBandANCF::ElementType m_ancf_element_type
 
bool m_ancf_constrain_curvature
 
int m_ancf_num_elements_length
 
int m_ancf_num_elements_width
 
DrivelineTypeTV m_driveline_type
 
PowertrainModelType m_powertrain_type
 
bool m_use_track_bushings
 
bool m_use_suspension_bushings
 
bool m_use_track_RSDA
 
ChCoordsys m_initPos
 
double m_initFwdVel
 
bool m_gyration_mode
 
bool m_apply_drag
 
double m_Cd
 
double m_area
 
double m_air_density
 
ChSystemm_system
 
M113_Vehiclem_vehicle
 

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113.cpp