chrono::vehicle::m113::M113_SimpleDriveline Class Reference
Description
Simple driveline model for the M113 vehicle (purely kinematic).
#include <M113_SimpleDriveline.h>
Inheritance diagram for chrono::vehicle::m113::M113_SimpleDriveline:
Collaboration diagram for chrono::vehicle::m113::M113_SimpleDriveline:
Public Member Functions | |
| virtual double | GetDifferentialMaxBias () const override |
| Return the torque bias ratio for the differential. More... | |
 Public Member Functions inherited from chrono::vehicle::ChSimpleTrackDriveline | |
| ChSimpleTrackDriveline (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right) override |
| Initialize the driveline subsystem. More... | |
| virtual void | Synchronize (double time, const DriverInputs &driver_inputs, double torque) override |
| Update the driveline subsystem. More... | |
| virtual double | GetSprocketTorque (VehicleSide side) const override |
| Get the motor torque to be applied to the specified sprocket. | |
| virtual double | GetSprocketSpeed (VehicleSide side) const override |
| Get the angular speed of the specified sprocket. | |
| virtual void | Disconnect () override |
| Disconnect driveline from driven sprockets. | |
| Public Member Functions inherited from chrono::vehicle::ChDrivelineTV | |
| virtual void | SetGyrationMode (bool mode) |
| Turn gyration mode on/off. | |
| Public Member Functions inherited from chrono::vehicle::ChDriveline | |
| std::shared_ptr< ChShaft > | GetDriveshaft () const |
| Get a handle to the driveshaft. More... | |
| double | GetDriveshaftSpeed () const |
| Get the angular speed of the driveshaft. 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. | |
| 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. | |
| virtual void | SetOutput (bool state) |
| Enable/disable output for this subsystem. | |
| bool | OutputEnabled () const |
| Return the output state for this subsystem. | |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
| Export this subsystem's component list to the specified JSON object. More... | |
| virtual void | Output (ChVehicleOutput &database) const |
| Output data for this subsystem's component list to the specified database. | |
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 Member Functions inherited from chrono::vehicle::ChDrivelineTV | |
| ChDrivelineTV (const std::string &name) | |
| virtual void | CombineDriverInputs (const DriverInputs &driver_inputs, double &braking_left, double &braking_right) |
| Protected Member Functions inherited from chrono::vehicle::ChDriveline | |
| ChDriveline (const std::string &name) | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| 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... | |
| 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::ChDrivelineTV | |
| bool | m_gyration_mode |
| flag indicating if in gyration mode (turn in place) | |
| Protected Attributes inherited from chrono::vehicle::ChDriveline | |
| std::shared_ptr< ChShaft > | m_driveshaft |
| shaft connection to the powertrain | |
| 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 | |
Member Function Documentation
◆ GetDifferentialMaxBias()
|
inlineoverridevirtual |
Return the torque bias ratio for the differential.
This is a simple model of a Torsen limited-slip differential.
Implements chrono::vehicle::ChSimpleTrackDriveline.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SimpleDriveline.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SimpleDriveline.cpp
