Description

M113 sprocket subsystem, suitable for interaction with double-pin track shoes (left side).

#include <M113_SprocketDoublePin.h>

Inheritance diagram for chrono::vehicle::m113::M113_SprocketDoublePinLeft:

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Collaboration diagram for chrono::vehicle::m113::M113_SprocketDoublePinLeft:

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Public Member Functions
virtual std::string	GetMeshFile () const override

Public Member Functions inherited from chrono::vehicle::m113::M113_SprocketDoublePin
virtual int	GetNumTeeth () const override
	Get the number of teeth of the gear.

virtual double	GetAssemblyRadius () const override
	Get the radius of the gear. More...

virtual double	GetAddendumRadius () const override
	Get the addendum radius. More...

virtual double	GetGearMass () const override
	Return the mass of the gear body.

virtual const ChVector &	GetGearInertia () override
	Return the moments of inertia of the gear body.

virtual double	GetAxleInertia () const override
	Return the inertia of the axle shaft.

virtual double	GetSeparation () const override
	Return the distance between the two gear profiles.

virtual double	GetOuterRadius () const override
	Return the radius of the addendum circle.

virtual double	GetArcRadius () const override
	Return the radius of the (concave) tooth circular arc.

virtual double	GetArcCenterHeight () const override
	Return height of arc center.

virtual double	GetArcCenterOffset () const override
	Return offset of arc center.

virtual double	GetLateralBacklash () const override
	Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking).

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

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

virtual std::shared_ptr< geometry::ChLinePath >	GetProfile () const override
	Return the 2D gear profile. More...

virtual std::shared_ptr< ChSystem::CustomCollisionCallback >	GetCollisionCallback (ChTrackAssembly *track) override
	Return the custom collision callback object. More...

Public Member Functions inherited from chrono::vehicle::ChSprocket
std::shared_ptr< ChBody >	GetGearBody () const
	Get a handle to the gear body.

std::shared_ptr< ChShaft >	GetAxle () const
	Get a handle to the axle shaft.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute () 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< ChMaterialSurface >	GetContactMaterial () 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::ChTriangleMeshConnected >	CreateVisualizationMesh (double radius, double width, double delta, ChColor color=ChColor(1, 1, 1)) const
	Utility function to create a sprocket visualization mesh. More...

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.

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	SetOutput (bool state)
	Enable/disable output 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 Member Functions inherited from chrono::vehicle::m113::M113_SprocketDoublePin
	M113_SprocketDoublePin (const std::string &name)

virtual void	CreateContactMaterial (ChContactMethod contact_method) override
	Create the contact material consistent with the specified contact method.

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization of the sprocket.

Protected Member Functions inherited from chrono::vehicle::ChSprocket
	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 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...

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::ChSprocket
ChVector	m_rel_loc
	sprocket subsystem location relative to chassis

std::shared_ptr< ChBody >	m_gear
	sprocket gear body

std::shared_ptr< ChShaft >	m_axle
	gear shafts

std::shared_ptr< ChShaftsBody >	m_axle_to_spindle
	gear-shaft connector

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	sprocket revolute joint

std::shared_ptr< ChMaterialSurface >	m_material
	contact material;

std::shared_ptr< ChSystem::CustomCollisionCallback >	m_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< 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

Static Protected Attributes inherited from chrono::vehicle::m113::M113_SprocketDoublePin
static const int	m_num_teeth = 10

static const double	m_gear_mass = 27.68

static const ChVector	m_gear_inertia

static const double	m_axle_inertia = 0.4

static const double	m_separation = 0.278

static const double	m_gear_RT = 0.2715

static const double	m_gear_R = 0.0223

static const double	m_gear_C = 0.2371

static const double	m_gear_W = 0.0464

static const double	m_gear_RA = 0.242

static const double	m_lateral_backlash = 0.02

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

/builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketDoublePin.h
/builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketDoublePin.cpp

Description

Public Member Functions

Additional Inherited Members