Description

Base class for a tracked vehicle sprocket.

A sprocket is responsible for contact processing with the track shoes of the containing track assembly.

#include <ChSprocket.h>

Inheritance diagram for chrono::vehicle::ChSprocket:

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Collaboration diagram for chrono::vehicle::ChSprocket:

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Public Member Functions
virtual unsigned int	GetNumTeeth () const =0
	Get the number of teeth of the gear.

virtual double	GetAssemblyRadius () const =0
	Get the track assembly radius. More...

virtual double	GetAddendumRadius () const =0
	Get the addendum radius. More...

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	EnableCollision (bool val)
	Turn on/off collision flag for the gear wheel.

std::shared_ptr< ChContactMaterial >	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 ChVector3d &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< 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	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the sprocket subsystem.

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.

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	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Member Functions
	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 double	GetGearMass () const =0
	Return the mass of the gear body.

virtual const ChVector3d &	GetGearInertia ()=0
	Return the moments of inertia of the gear body.

virtual double	GetAxleInertia () const =0
	Return the inertia of the axle shaft.

virtual double	GetSeparation () const =0
	Return the distance between the two gear profiles.

virtual double	GetLateralBacklash () const =0
	Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking).

virtual std::shared_ptr< ChLinePath >	GetProfile () const =0
	Return the 2D gear profile. More...

virtual void	CreateContactMaterial (ChContactMethod contact_method)=0
	Create the contact material consistent with the specified contact method.

virtual std::shared_ptr< ChSystem::CustomCollisionCallback >	GetCollisionCallback (ChTrackAssembly *track)=0
	Return the custom collision callback object. 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 (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
ChVector3d	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< ChShaftBodyRotation >	m_axle_to_spindle
	gear-shaft connector

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	sprocket revolute joint

std::shared_ptr< ChContactMaterial >	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_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

◆ ApplyAxleTorque()

void chrono::vehicle::ChSprocket::ApplyAxleTorque ( double torque )

Apply the provided torque to the sprocket's axle (for debugging and testing).

Note that this torque is added to any torque applied by the driveline. As such, this function should be called only after a call to the vehicle Synchronize function. A positive value corresponds to forward motion.

◆ CreateVisualizationMesh()

std::shared_ptr< ChTriangleMeshConnected > chrono::vehicle::ChSprocket::CreateVisualizationMesh	(	double	radius,
		double	width,
		double	delta,
		ChColor	color = `ChColor(1, 1, 1)`
	)		const

Utility function to create a sprocket visualization mesh.

Parameters

radius	inner radius
width	gear width
delta	arclength between points
color	mesh color

◆ GetAddendumRadius()

virtual double chrono::vehicle::ChSprocket::GetAddendumRadius ( ) const

pure virtual

Get the addendum radius.

This quantity is an average radius for sprocket-track engagement used to estimate longitudinal slip.

Implemented in chrono::vehicle::m113::M113_SprocketBand, chrono::vehicle::m113::M113_SprocketDoublePin, chrono::vehicle::m113::M113_SprocketSinglePin, chrono::vehicle::marder::Marder_SprocketSinglePin, chrono::vehicle::SprocketBand, chrono::vehicle::SprocketDoublePin, and chrono::vehicle::SprocketSinglePin.

◆ GetAssemblyRadius()

virtual double chrono::vehicle::ChSprocket::GetAssemblyRadius ( ) const

pure virtual

Get the track assembly radius.

This quantity is used during the automatic track assembly. It represents a safe distance from the sprocket gear center at which the track shoes can be instantiated.

Implemented in chrono::vehicle::m113::M113_SprocketBand, chrono::vehicle::m113::M113_SprocketDoublePin, chrono::vehicle::m113::M113_SprocketSinglePin, chrono::vehicle::marder::Marder_SprocketSinglePin, chrono::vehicle::SprocketBand, chrono::vehicle::SprocketDoublePin, and chrono::vehicle::SprocketSinglePin.

◆ GetCollisionCallback()

virtual std::shared_ptr<ChSystem::CustomCollisionCallback> chrono::vehicle::ChSprocket::GetCollisionCallback ( ChTrackAssembly * track )

protectedpure virtual

Return the custom collision callback object.

Parameters

[in] track pointer to containing track assembly

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ GetProfile()

virtual std::shared_ptr<ChLinePath> chrono::vehicle::ChSprocket::GetProfile ( ) const

protectedpure virtual

Return the 2D gear profile.

The gear profile, a ChLinePath geometric object, is made up of an arbitrary number of sub-paths of type ChLineArc or ChLineSegment sub-lines. These must be added in clockwise order, and the end of sub-path i must be coincident with beginning of sub-path i+1.

Implemented in chrono::vehicle::ChSprocketBand, chrono::vehicle::ChSprocketDoublePin, and chrono::vehicle::ChSprocketSinglePin.

◆ Initialize()

void chrono::vehicle::ChSprocket::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector3d &	location,
		ChTrackAssembly *	track
	)

virtual

Initialize this sprocket subsystem.

The sprocket subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis).

Parameters

[in]	chassis	associated chassis
[in]	location	location relative to the chassis frame
[in]	track	pointer to containing track assembly

◆ InitializeInertiaProperties()

void chrono::vehicle::ChSprocket::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.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChSprocket::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/ChSprocket.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChSprocket.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ ApplyAxleTorque()

◆ CreateVisualizationMesh()

◆ GetAddendumRadius()

◆ GetAssemblyRadius()

◆ GetCollisionCallback()

◆ GetProfile()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ UpdateInertiaProperties()