Description

Definition of a continuous band track assembly.

A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes. This is the base class for continuous band track assembly using rigid tread. Derived classes specify the actual template defintions, using different track shoes.

#include <ChTrackAssemblyBand.h>

Inheritance diagram for chrono::vehicle::ChTrackAssemblyBand:

[legend]

Collaboration diagram for chrono::vehicle::ChTrackAssemblyBand:

[legend]

Public Member Functions
	ChTrackAssemblyBand (const std::string &name, VehicleSide side)

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

Public Member Functions inherited from chrono::vehicle::ChTrackAssembly
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.

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
bool	FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2d > &shoe_points)
	Assembly Algorithm Utility Functions.

void	FindCircleTangentPoints (ChVector2d Circle1Pos, double Circle1Rad, ChVector2d Circle2Pos, double Circle2Rad, ChVector2d &Tan1Pnt1, ChVector2d &Tan1Pnt2, ChVector2d &Tan2Pnt1, ChVector2d &Tan2Pnt2)

void	CheckCircleCircle (bool &found, ChVector2d &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2d &StartingPoint, double Radius)

void	CheckCircleLine (bool &found, ChVector2d &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2d &StartingPoint, double Radius)

Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly
	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
std::shared_ptr< ChSprocketBand >	m_sprocket
	sprocket subsystem

double	m_sprocket_offset

Protected Attributes inherited from chrono::vehicle::ChTrackAssembly
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

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

◆ ChTrackAssemblyBand()

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

inline

Parameters

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

Member Function Documentation

◆ CheckCircleCircle()

void chrono::vehicle::ChTrackAssemblyBand::CheckCircleCircle	(	bool &	found,
		ChVector2d &	Point,
		ChMatrixDynamic<> &	Features,
		int	FeatureIdx,
		ChVector2d &	StartingPoint,
		double	Radius
	)

protected

Parameters

found	Does an intersection point exist between the circle formed by StartingPoint and Radius with the current circle belt feature
Point	Intersection Point, if it exists between the circle formed by StartingPoint and Radius with the current circle belt feature
Features	Table with the tagent or arc information for the entire belt wrap
FeatureIdx	Current belt feature to check the intersection of
StartingPoint	Current Point on the belt wrap
Radius	Length of the current belt segment that needs to be placed on the belt wrap

◆ CheckCircleLine()

void chrono::vehicle::ChTrackAssemblyBand::CheckCircleLine	(	bool &	found,
		ChVector2d &	Point,
		ChMatrixDynamic<> &	Features,
		int	FeatureIdx,
		ChVector2d &	StartingPoint,
		double	Radius
	)

protected

Parameters

found	Does an intersection point exist between the circle formed by StartingPoint and Radius with the current circle belt feature
Point	Intersection Point, if it exists between the circle formed by StartingPoint and Radius with the current circle belt feature
Features	Table with the tagent or arc information for the entire belt wrap
FeatureIdx	Current belt feature to check the intersection of
StartingPoint	Current Point on the belt wrap
Radius	Length of the current belt segment that needs to be placed on the belt wrap

◆ FindCircleTangentPoints()

void chrono::vehicle::ChTrackAssemblyBand::FindCircleTangentPoints	(	ChVector2d	Circle1Pos,
		double	Circle1Rad,
		ChVector2d	Circle2Pos,
		double	Circle2Rad,
		ChVector2d &	Tan1Pnt1,
		ChVector2d &	Tan1Pnt2,
		ChVector2d &	Tan2Pnt1,
		ChVector2d &	Tan2Pnt2
	)

protected

Parameters

Circle1Pos	Center Position of Circle 1
Circle1Rad	Radius of Circle 1
Circle2Pos	Center Position of Circle 2
Circle2Rad	Radius of Circle 2
Tan1Pnt1	Point on Circle 1 for the first calculated outside tangent
Tan1Pnt2	Point on Circle 2 for the first calculated outside tangent
Tan2Pnt1	Point on Circle 1 for the second calculated outside tangent
Tan2Pnt2	Point on Circle 2 for the second calculated outside tangent

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBand.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBand.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackAssemblyBand()

Member Function Documentation

◆ CheckCircleCircle()

◆ CheckCircleLine()

◆ FindCircleTangentPoints()