Description

Definition of a track assembly.

A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of rollers, a set of suspensions (road-wheel assemblies), and a collection of track shoes.

#include <ChTrackAssembly.h>

Inheritance diagram for chrono::vehicle::ChTrackAssembly:

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Collaboration diagram for chrono::vehicle::ChTrackAssembly:

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Public Member Functions
VehicleSide	GetVehicleSide () const
	Return the vehicle side for this track assembly.

size_t	GetNumTrackSuspensions () const
	Get the number of suspensions.

size_t	GetNumRollers () const
	Get the number of rollers.

virtual size_t	GetNumTrackShoes () const =0
	Get the number of track shoes.

virtual std::shared_ptr< ChSprocket >	GetSprocket () const =0
	Get a handle to the sprocket.

std::shared_ptr< ChIdler >	GetIdler () const
	Get a handle to the idler subsystem.

std::shared_ptr< ChTrackWheel >	GetIdlerWheel () const
	Get a handle to the idelr wheel subsystem.

std::shared_ptr< ChTrackBrake >	GetBrake () const
	Get a handle to the brake subsystem.

const ChTrackSuspensionList &	GetTrackSuspensions () const
	Get the list of suspension subsystems.

std::shared_ptr< ChTrackSuspension >	GetTrackSuspension (size_t id) const
	Get a handle to the specified suspension subsystem.

std::shared_ptr< ChTrackWheel >	GetRoller (size_t id) const
	Get a handle to the specified roller subsystem.

std::shared_ptr< ChTrackWheel >	GetRoadWheel (size_t id) const
	Get a handle to the specified road wheel subsystem.

virtual std::shared_ptr< ChTrackShoe >	GetTrackShoe (size_t id) const =0
	Get a handle to the specified track shoe subsystem.

const ChVector3d &	GetTrackShoePos (size_t id) const
	Get the global location of the specified track shoe. More...

const ChQuaternion &	GetTrackShoeRot (size_t id) const
	Get the orientation of the specified track shoe. More...

const ChVector3d &	GetTrackShoeLinVel (size_t id) const
	Get the linear velocity of the specified track shoe. More...

ChVector3d	GetTrackShoeAngVel (size_t id) const
	Get the angular velocity of the specified track shoe. More...

ChVector3d	GetTrackShoeTension (size_t id) const
	Get track tension at the specified track shoe. More...

BodyState	GetTrackShoeState (size_t id) const
	Get the complete state for the specified track shoe. More...

void	GetTrackShoeStates (BodyStates &states) const
	Get the complete states for all track shoes. More...

virtual const ChVector3d	GetSprocketLocation () const =0
	Get the relative location of the sprocket subsystem. More...

virtual const ChVector3d	GetIdlerLocation () const =0
	Get the relative location of the idler subsystem. More...

virtual const ChVector3d	GetRoadWhelAssemblyLocation (int which) const =0
	Get the relative location of the specified suspension subsystem. More...

virtual const ChVector3d	GetRollerLocation (int which) const
	Get the relative location of the specified roller subsystem. More...

void	Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, bool create_shoes=true)
	Initialize this track assembly subsystem. More...

double	ReportTrackLength () const
	Return total assembled track length (sum of pitch over all track shoes).

ChTrackSuspension::ForceTorque	ReportSuspensionForce (size_t id) const
	Return current suspension forces or torques, as appropriate (spring and shock) for the specified suspension. More...

void	SetSprocketVisualizationType (VisualizationType vis)
	Set visualization type for the sprocket subsystem.

void	SetIdlerVisualizationType (VisualizationType vis)

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystems.

void	SetIdlerWheelVisualizationType (VisualizationType vis)
	Set visualization type for the idler-wheel subsystems.

void	SetRoadWheelVisualizationType (VisualizationType vis)
	Set visualization type for the road-wheel subsystems.

void	SetRollerVisualizationType (VisualizationType vis)
	Set visualization type for the roller subsystems.

void	SetTrackShoeVisualizationType (VisualizationType vis)
	Set visualization type for the track shoe subsystems.

void	SetWheelCollisionType (bool roadwheel_as_cylinder, bool idler_as_cylinder, bool roller_as_cylinder)
	Set collision shape type for wheels.

void	Synchronize (double time, double braking)
	Update the state of this track assembly at the current time. More...

void	Synchronize (double time, double braking, const TerrainForces &shoe_forces)
	Update the state of this track assembly at the current time. More...

virtual void	Advance (double step)
	Advance the state of this track assembly by the specified time step.

virtual void	SetOutput (bool state) override
	Enable/disable output for this subsystem. More...

void	LogConstraintViolations ()
	Log current constraint violations.

bool	IsRoadwheelCylinder () const

bool	IsIdlerCylinder () const

bool	IsRolerCylinder () const

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.

Protected Member Functions
	ChTrackAssembly (const std::string &name, VehicleSide side)

virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual bool	Assemble (std::shared_ptr< ChBodyAuxRef > chassis)=0
	Assemble track shoes over wheels. More...

virtual void	RemoveTrackShoes ()=0
	Remove all track shoes from assembly.

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::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
VehicleSide	m_side
	assembly on left/right vehicle side

ChVector3d	m_rel_loc
	assembly location relative to chassis

std::shared_ptr< ChIdler >	m_idler
	idler (and tensioner) subsystem

std::shared_ptr< ChTrackBrake >	m_brake
	sprocket brake

ChTrackSuspensionList	m_suspensions
	road-wheel assemblies

ChTrackWheelList	m_rollers
	roller subsystems

bool	m_roadwheel_as_cylinder

bool	m_idler_as_cylinder

bool	m_roller_as_cylinder

std::vector< std::shared_ptr< ChLoadBodyForce > >	m_shoe_terrain_forces
	terrain force loads on track shoes

std::vector< std::shared_ptr< ChLoadBodyTorque > >	m_shoe_terrain_torques
	terrain torque loads on track shoes

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	ChTrackedVehicle

class	ChTrackTestRig

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).

Constructor & Destructor Documentation

◆ ChTrackAssembly()

chrono::vehicle::ChTrackAssembly::ChTrackAssembly	(	const std::string &	name,
		VehicleSide	side
	)

protected

Parameters

[in]	name	name of the subsystem
[in]	side	assembly on left/right vehicle side

Member Function Documentation

◆ Assemble()

virtual bool chrono::vehicle::ChTrackAssembly::Assemble ( std::shared_ptr< ChBodyAuxRef > chassis )

protectedpure virtual

Assemble track shoes over wheels.

Return true if the track shoes were initialized in a counter clockwise direction and false otherwise.

◆ ExportComponentList()

void chrono::vehicle::ChTrackAssembly::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::ChPart.

◆ GetIdlerLocation()

virtual const ChVector3d chrono::vehicle::ChTrackAssembly::GetIdlerLocation ( ) const

pure virtual

Get the relative location of the idler subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implemented in chrono::vehicle::m113::M113_TrackAssemblyBandANCF, chrono::vehicle::m113::M113_TrackAssemblyDoublePin, chrono::vehicle::m113::M113_TrackAssemblySinglePin, chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, chrono::vehicle::m113::M113_TrackAssemblyBandBushing, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetRoadWhelAssemblyLocation()

virtual const ChVector3d chrono::vehicle::ChTrackAssembly::GetRoadWhelAssemblyLocation ( int which ) const

pure virtual

Get the relative location of the specified suspension subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implemented in chrono::vehicle::m113::M113_TrackAssemblyBandANCF, chrono::vehicle::m113::M113_TrackAssemblyDoublePin, chrono::vehicle::m113::M113_TrackAssemblySinglePin, chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, chrono::vehicle::m113::M113_TrackAssemblyBandBushing, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetRollerLocation()

virtual const ChVector3d chrono::vehicle::ChTrackAssembly::GetRollerLocation ( int which ) const

inlinevirtual

Get the relative location of the specified roller subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Reimplemented in chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetSprocketLocation()

virtual const ChVector3d chrono::vehicle::ChTrackAssembly::GetSprocketLocation ( ) const

pure virtual

Get the relative location of the sprocket subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Implemented in chrono::vehicle::m113::M113_TrackAssemblyBandANCF, chrono::vehicle::m113::M113_TrackAssemblyDoublePin, chrono::vehicle::m113::M113_TrackAssemblySinglePin, chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, chrono::vehicle::m113::M113_TrackAssemblyBandBushing, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetTrackShoeAngVel()

ChVector3d chrono::vehicle::ChTrackAssembly::GetTrackShoeAngVel ( size_t id ) const

inline

Get the angular velocity of the specified track shoe.

Return the angular velocity of the shoe body frame, expressed in the global reference frame.

◆ GetTrackShoeLinVel()

const ChVector3d& chrono::vehicle::ChTrackAssembly::GetTrackShoeLinVel ( size_t id ) const

inline

Get the linear velocity of the specified track shoe.

Return the linear velocity of the shoe body center, expressed in the global reference frame.

◆ GetTrackShoePos()

const ChVector3d& chrono::vehicle::ChTrackAssembly::GetTrackShoePos ( size_t id ) const

inline

Get the global location of the specified track shoe.

The returned location is that of the shoe body in the track shoe subsystem.

◆ GetTrackShoeRot()

const ChQuaternion& chrono::vehicle::ChTrackAssembly::GetTrackShoeRot ( size_t id ) const

inline

Get the orientation of the specified track shoe.

The track shoe body orientation is returned as a quaternion representing a rotation with respect to the global reference frame. This is the orientation of the shoe body in the track shoe subsystem.

◆ GetTrackShoeState()

BodyState chrono::vehicle::ChTrackAssembly::GetTrackShoeState ( size_t id ) const

Get the complete state for the specified track shoe.

This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame.

◆ GetTrackShoeStates()

void chrono::vehicle::ChTrackAssembly::GetTrackShoeStates ( BodyStates & states ) const

Get the complete states for all track shoes.

These include the locations, orientations, linear and angular velocities for all track shoes in this track assembly, all expressed in the global reference frame. It is assumed that the vector of body states was properly sized.

◆ GetTrackShoeTension()

ChVector3d chrono::vehicle::ChTrackAssembly::GetTrackShoeTension ( size_t id ) const

inline

Get track tension at the specified track shoe.

Return is the force due to the connections of this track shoe, expressed in the track shoe reference frame.

◆ Initialize()

void chrono::vehicle::ChTrackAssembly::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector3d &	location,
		bool	create_shoes = `true`
	)

Initialize this track assembly subsystem.

The 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 track assembly reference frame is always aligned with the chassis reference frame.

Parameters

[in]	chassis	chassis subsystem
[in]	location	location relative to the chassis frame
[in]	create_shoes	control creation of the actual track

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackAssembly::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.

◆ ReportSuspensionForce()

ChTrackSuspension::ForceTorque chrono::vehicle::ChTrackAssembly::ReportSuspensionForce ( size_t id ) const

Return current suspension forces or torques, as appropriate (spring and shock) for the specified suspension.

Different suspension types will load different quantities in the output struct.

◆ SetOutput()

void chrono::vehicle::ChTrackAssembly::SetOutput ( bool state )

overridevirtual

Enable/disable output for this subsystem.

This function overrides the output setting for all components of this track assembly.

Reimplemented from chrono::vehicle::ChPart.

◆ Synchronize() [1/2]

void chrono::vehicle::ChTrackAssembly::Synchronize	(	double	time,
		double	braking
	)

Update the state of this track assembly at the current time.

Parameters

[in]	time	current time
[in]	braking	braking driver input

◆ Synchronize() [2/2]

void chrono::vehicle::ChTrackAssembly::Synchronize	(	double	time,
		double	braking,
		const TerrainForces &	shoe_forces
	)

Update the state of this track assembly at the current time.

This version is called if co-simulating with an external terain system.

Parameters

[in]	time	current time
[in]	braking	braking driver input
[in]	shoe_forces	vector of tire force structures

◆ UpdateInertiaProperties()

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackAssembly()

Member Function Documentation

◆ Assemble()

◆ ExportComponentList()

◆ GetIdlerLocation()

◆ GetRoadWhelAssemblyLocation()

◆ GetRollerLocation()

◆ GetSprocketLocation()

◆ GetTrackShoeAngVel()

◆ GetTrackShoeLinVel()

◆ GetTrackShoePos()

◆ GetTrackShoeRot()

◆ GetTrackShoeState()

◆ GetTrackShoeStates()

◆ GetTrackShoeTension()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ ReportSuspensionForce()

◆ SetOutput()

◆ Synchronize() [1/2]

◆ Synchronize() [2/2]

◆ UpdateInertiaProperties()