Description

Base class for a track wheel subsystem.

#include <ChTrackWheel.h>

Inheritance diagram for chrono::vehicle::ChTrackWheel:

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Collaboration diagram for chrono::vehicle::ChTrackWheel:

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Public Member Functions
virtual GuidePinType	GetType () const =0
	Return the type of track shoe consistent with this track wheel.

std::shared_ptr< ChBody >	GetBody () const
	Get a handle to the wheel body.

std::shared_ptr< ChLinkLockRevolute >	GetRevolute () const
	Get a handle to the revolute joint.

virtual double	GetMass () const =0
	Return the mass of the track wheel body.

virtual const ChVector3d &	GetInertia ()=0
	Return the moments of inertia of the track wheel body.

virtual double	GetRadius () const =0
	Get the radius of the track wheel.

virtual double	GetWidth () const =0
	Return the total width of the track wheel.

void	EnableCollision (bool val)
	Turn on/off collision flag for the track wheel (default: true).

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChBody > carrier, const ChVector3d &location, ChTrackAssembly *track)
	Initialize this track wheel subsystem. More...

void	LogConstraintViolations ()
	Log current constraint violations.

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. 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 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.

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

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

Protected Member Functions
	ChTrackWheel (const std::string &name)
	Construct a road-wheel subsystem with given name.

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

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

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

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< ChBody >	m_wheel
	track wheel body

std::shared_ptr< ChLinkLockRevolute >	m_revolute
	wheel revolute joint

std::shared_ptr< ChContactMaterial >	m_material
	contact material;

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()

void chrono::vehicle::ChTrackWheel::ExportComponentList ( rapidjson::Document & jsonDocument ) const

overridevirtual

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.

◆ Initialize()

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

virtual

Initialize this track wheel subsystem.

The track wheel subsystem is initialized by attaching it to the specified carrier body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the track wheel subsystem reference frame is always aligned with the chassis reference frame. A derived track wheel subsystem template class must extend this default implementation and specify contact geometry for the track wheel.

Parameters

[in]	chassis	associated chassis subsystem
[in]	carrier	carrier body
[in]	location	location relative to the chassis frame
[in]	track	containing track assembly

Reimplemented in chrono::vehicle::ChDoubleTrackWheel, and chrono::vehicle::ChSingleTrackWheel.

◆ InitializeInertiaProperties()

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ ExportComponentList()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ UpdateInertiaProperties()