Description

Base class for an idler subsystem with a fixed distance tensioner.

An idler consists of the idler wheel and a carrier body. The carrier body is connected to the chassis and the idler wheel to the carrier. A linear actuator connects the carrier body and a link body (the chassis or a supsension arm).

#include <ChDistanceIdler.h>

Inheritance diagram for chrono::vehicle::ChDistanceIdler:
Collaboration diagram for chrono::vehicle::ChDistanceIdler:

Public Member Functions

 ChDistanceIdler (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const override
 Return a handle to the carrier body to which the idler wheel is connected.
 
std::shared_ptr< ChLinkLinActuatorGetTensioner () const
 Get the tensioner motor element.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track)
 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...
 
void LogConstraintViolations ()
 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< ChTrackWheelGetIdlerWheel () const
 Return the idler wheel subsystem.
 
std::shared_ptr< ChBodyGetWheelBody () 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 ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () 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.
 

Protected Types

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

Protected Member Functions

virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual const ChVector GetLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double GetCarrierMass () const =0
 Return the mass of the carrier body.
 
virtual const ChVectorGetCarrierInertia ()=0
 Return the moments of inertia of the carrier body.
 
virtual double GetCarrierVisRadius () const =0
 Return a visualization radius for the carrier body.
 
virtual double GetTensionerExtensionTime () const =0
 Return the time to extend the tensioner to prescribed distance.
 
virtual double GetTensionerDistance () const =0
 Return the set distance in the tensioner.
 
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...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

std::shared_ptr< ChBodym_carrier
 carrier body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 carrier-chassis revolute joint
 
std::shared_ptr< ChLinkLinActuatorm_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< ChTrackWheelm_idler_wheel
 idler-wheel subsystem
 
ChTrackAssemblym_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< ChPartm_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
 

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).
 

Member Enumeration Documentation

◆ PointId

Identifiers for the various hardpoints.

Enumerator
CARRIER 

carrier location

CARRIER_WHEEL 

carrier, connection to idler wheel

CARRIER_CHASSIS 

carrier, connection to chassis (revolute)

MOTOR_CARRIER 

motor connection to carrier

MOTOR_ARM 

motor connection to suspension arm

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChDistanceIdler::AddVisualizationAssets ( VisualizationType  vis)
overridevirtual

Add visualization assets for the idler subsystem.

This default implementation adds assets to the carrier body.

Reimplemented from chrono::vehicle::ChPart.

◆ ExportComponentList()

void chrono::vehicle::ChDistanceIdler::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::ChIdler.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChDistanceIdler::GetLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

◆ Initialize()

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

Initialize this idler subsystem.

The idler subsystem is initialized by attaching it to the specified chassis at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the idler subsystem reference frame is always aligned with the chassis reference frame. A derived idler subsystem template class must extend this default implementation and specify contact geometry for the idler wheel.

Parameters
[in]chassisassociated chassis
[in]locationlocation relative to the chassis frame
[in]trackcontaining track assembly

Reimplemented from chrono::vehicle::ChIdler.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChDistanceIdler::InitializeInertiaProperties ( )
overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ RemoveVisualizationAssets()

void chrono::vehicle::ChDistanceIdler::RemoveVisualizationAssets ( )
overridevirtual

Remove visualization assets for the idler subsystem.

This default implementation removes the assets from the carrier body.

Reimplemented from chrono::vehicle::ChPart.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChDistanceIdler::UpdateInertiaProperties ( )
overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/idler/ChDistanceIdler.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/idler/ChDistanceIdler.cpp