Description

Base class for a track shoe.

#include <ChTrackShoe.h>

Inheritance diagram for chrono::vehicle::ChTrackShoe:
Collaboration diagram for chrono::vehicle::ChTrackShoe:

Public Member Functions

virtual GuidePinType GetType () const =0
 Return the type of track shoe (guiding pin). More...
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get the shoe body.
 
virtual ChVector3d GetTension () const =0
 Get track tension at this track shoe. More...
 
virtual double GetHeight () const =0
 Return the height of the track shoe.
 
virtual double GetPitch () const =0
 Return the pitch length of the track shoe. More...
 
virtual ChVector3d GetLateralContactPoint () const =0
 Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...
 
virtual utils::ChBodyGeometry GetGroundContactGeometry () const
 Return contact geometry and material for interaction with terrain.
 
void EnableCollision (bool val)
 Turn on/off collision flag for the shoe body.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &location, const ChQuaternion<> &rotation)
 Initialize this track shoe subsystem. More...
 
void SetIndex (size_t index)
 Set the index of this track shoe within its containing track assembly.
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next, ChTrackAssembly *assembly, ChChassis *chassis, bool ccw)=0
 Connect this track shoe to the specified neighbor. 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.
 
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 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.
 
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.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

 ChTrackShoe (const std::string &name)
 Construct a track shoe 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.
 
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

size_t m_index
 index of this track shoe within its containing track assembly
 
std::shared_ptr< ChBodym_shoe
 handle to the shoe body
 
- 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< 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
 

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

◆ Connect()

virtual void chrono::vehicle::ChTrackShoe::Connect ( std::shared_ptr< ChTrackShoe next,
ChTrackAssembly assembly,
ChChassis chassis,
bool  ccw 
)
pure virtual

Connect this track shoe to the specified neighbor.

This function must be called only after all track shoes have been initialized.

Parameters
[in]nexthandle to the neighbor track shoe
[in]assemblycontaining track assembly
[in]chassisassociated chassis
[in]ccwtrack assembled in counter clockwise direction

◆ GetLateralContactPoint()

virtual ChVector3d chrono::vehicle::ChTrackShoe::GetLateralContactPoint ( ) const
pure virtual

Return the location for lateral contact with the sprocket, expressed in the shoe reference frame.

This point, which must be in the median plane of the track shoe, is used to enforce lateral contact with the sprocket as a detracking prevention mechanism. For track shoes with a central guiding pin, this can be the center of the guiding pin collision shape.

Implemented in chrono::vehicle::ChTrackShoeBand, chrono::vehicle::TrackShoeDoublePin, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::TrackShoeSinglePin, and chrono::vehicle::m113::M113_TrackShoeDoublePin.

◆ GetPitch()

virtual double chrono::vehicle::ChTrackShoe::GetPitch ( ) const
pure virtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implemented in chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::ChTrackShoeBand, chrono::vehicle::ChTrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

◆ GetTension()

virtual ChVector3d chrono::vehicle::ChTrackShoe::GetTension ( ) const
pure virtual

Get track tension at this track shoe.

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

Implemented in chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeSinglePin, and chrono::vehicle::ChTrackShoeBandBushing.

◆ GetType()

virtual GuidePinType chrono::vehicle::ChTrackShoe::GetType ( ) const
pure virtual

◆ Initialize()

void chrono::vehicle::ChTrackShoe::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector3d location,
const ChQuaternion<> &  rotation 
)
virtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). All actual work is deferred to derived classes (subsystem templates) which must create the bodies, joints, etc. In addition, a derived class must set the track shoe body's tag to TrackedVehicleBodyTag::SHOES.

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame
[in]rotationorientation relative to the chassis frame

Reimplemented in chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeSinglePin, chrono::vehicle::ChTrackShoeBand, chrono::vehicle::ChTrackShoeBandBushing, and chrono::vehicle::ChTrackShoeSegmented.


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