Description
Base class for an idler subsystem.
#include <ChIdler.h>
Public Member Functions | |
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. | |
virtual std::shared_ptr< ChBody > | GetCarrierBody () const =0 |
Return a handle to the carrier body to which the idler wheel is connected. | |
double | GetWheelRadius () const |
Get the radius of the idler wheel. | |
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, ChTrackAssembly *track) |
Initialize this idler subsystem. More... | |
virtual void | SetOutput (bool state) override |
Enable/disable output for this subsystem. More... | |
virtual void | LogConstraintViolations ()=0 |
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. | |
virtual std::string | GetTemplateName () const =0 |
Get the name of the vehicle subsystem template. | |
bool | IsInitialized () const |
Return flag indicating whether or not the part is fully constructed. | |
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. | |
bool | OutputEnabled () const |
Return the output state for this subsystem. | |
virtual void | Output (ChVehicleOutput &database) const |
Output data for this subsystem's component list to the specified database. | |
Protected Member Functions | |
ChIdler (const std::string &name) | |
Construct an idler subsystem with given name. | |
virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
Export this subsystem's component list to the specified JSON object. More... | |
Protected Member Functions inherited from chrono::vehicle::ChPart | |
ChPart (const std::string &name) | |
Construct a vehicle subsystem with the specified name. | |
virtual void | InitializeInertiaProperties ()=0 |
Initialize subsystem inertia properties. More... | |
virtual void | UpdateInertiaProperties ()=0 |
Update subsystem inertia properties. More... | |
void | AddMass (double &mass) |
Add this subsystem's mass. More... | |
void | AddInertiaProperties (ChVector3d &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... | |
void | ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const |
Export the list of bodies to the specified JSON document. | |
void | ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const |
Export the list of shafts to the specified JSON document. | |
void | ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const |
Export the list of joints to the specified JSON document. | |
void | ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const |
Export the list of shaft couples to the specified JSON document. | |
void | ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const |
Export the list of markers to the specified JSON document. | |
void | ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const |
Export the list of translational springs to the specified JSON document. | |
void | ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const |
Export the list of rotational springs to the specified JSON document. | |
void | ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const |
Export the list of body-body loads to the specified JSON document. | |
Protected Attributes | |
GuidePinType | m_type |
type of the track shoe matching this road wheel | |
ChVector3d | 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_initialized |
specifies whether ot not the part is fully constructed | |
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 | |
Friends | |
class | ChTrackAssembly |
Additional Inherited Members | |
Static Public Member Functions inherited from chrono::vehicle::ChPart | |
static ChMatrix33 | TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &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 | 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 Function Documentation
◆ ExportComponentList()
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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::ChPart.
Reimplemented in chrono::vehicle::ChTranslationalIdler, and chrono::vehicle::ChDistanceIdler.
◆ Initialize()
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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] chassis associated chassis [in] location location relative to the chassis frame [in] track containing track assembly
Reimplemented in chrono::vehicle::ChDistanceIdler, and chrono::vehicle::ChTranslationalIdler.
◆ SetOutput()
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overridevirtual |
Enable/disable output for this subsystem.
This function overrides the output setting for all components of this suspension assembly.
Reimplemented from chrono::vehicle::ChPart.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChIdler.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChIdler.cpp