chrono::vehicle::TrackShoeDoublePin Class Reference
Description
Double-pin track shoe with central guide constructed with data from file (JSON format).
#include <TrackShoeDoublePin.h>
Inheritance diagram for chrono::vehicle::TrackShoeDoublePin:
Collaboration diagram for chrono::vehicle::TrackShoeDoublePin:
Public Member Functions | |
| TrackShoeDoublePin (const std::string &filename) | |
| TrackShoeDoublePin (const rapidjson::Document &d) | |
| virtual GuidePinType | GetType () const final override |
| Return the type of track shoe (guiding pin). More... | |
| virtual double | GetHeight () const override |
| Return the height of the track shoe. | |
| virtual double | GetShoeMass () const override |
| Return the mass of the shoe body. | |
| virtual const ChVector3d & | GetShoeInertia () const override |
| Return the moments of inertia of the shoe body. | |
| virtual double | GetShoeLength () const override |
| Return shoe length (distance between pins). | |
| virtual double | GetShoeWidth () const override |
| Return shoe width (separation between connectors). | |
| virtual double | GetConnectorMass () const override |
| Return the mass of a connector body. | |
| virtual const ChVector3d & | GetConnectorInertia () const override |
| Return the moments of inertia of a connector body. | |
| virtual double | GetConnectorLength () const override |
| Return the length of a connector body. | |
| virtual double | GetConnectorRadius () const override |
| Return the radius of a connector body. | |
| virtual double | GetConnectorWidth () const override |
| Return the width of a connector body (visualization only). | |
| virtual ChVector3d | GetLateralContactPoint () const override |
| Return the location of the guiding pin center, expressed in the shoe reference frame. | |
| virtual utils::ChBodyGeometry | GetGroundContactGeometry () const override |
| Return contact geometry and material for interaction with terrain. | |
 Public Member Functions inherited from chrono::vehicle::ChTrackShoeDoublePin | |
| ChTrackShoeDoublePin (const std::string &name, DoublePinTrackShoeType topology) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual double | GetPitch () const override |
| Return the pitch length of the track shoe. More... | |
| virtual ChVector3d | GetTension () const override |
| Get track tension at this track shoe. More... | |
| virtual void | Construct (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, const ChQuaternion<> &rotation) override |
| Construct this track shoe subsystem. More... | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization assets for the track shoe subsystem. | |
| virtual void | RemoveVisualizationAssets () override final |
| Remove visualization assets for the track shoe subsystem. | |
| Public Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented | |
| std::shared_ptr< ChContactMaterial > | GetSprocketContactMaterial () const |
| Get the contact material for the track shoe part interacting with the sprocket. | |
| Public Member Functions inherited from chrono::vehicle::ChTrackShoe | |
| size_t | GetIndex () const |
| Get the index of this track shoe within its containing track assembly. | |
| std::shared_ptr< ChBody > | GetShoeBody () const |
| Get the shoe body. | |
| void | EnableCollision (bool val) |
| Turn on/off collision flag for the shoe body. | |
| void | Initialize (std::shared_ptr< ChChassis > 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. | |
| 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. | |
| bool | IsInitialized () const |
| Return flag indicating whether or not the part is fully constructed. | |
| virtual uint16_t | GetVehicleTag () const |
| Get the tag of the associated vehicle. More... | |
| int | GetBodyTag () const |
| Get the tag for component bodies. | |
| 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. | |
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... | |
| Protected Member Functions inherited from chrono::vehicle::ChTrackShoeDoublePin | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector3d &loc_connector_L, const ChVector3d &loc_connector_R, const ChQuaternion<> &rot_connector) |
| Initialize this two-connector double-pin track shoe system. More... | |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
| Export this subsystem's component list to the specified JSON object. More... | |
| virtual void | Output (ChOutput &database) const override |
| Output data for this subsystem's component list to the specified database. | |
| Protected Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented | |
| ChTrackShoeSegmented (const std::string &name) | |
| Protected Member Functions inherited from chrono::vehicle::ChTrackShoe | |
| 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. | |
| void | AddMass (double &mass) |
| Add this subsystem's mass. More... | |
| void | AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia) |
| Add this subsystem's inertia properties. 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. | |
| 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). | |
| Protected Attributes inherited from chrono::vehicle::ChTrackShoeDoublePin | |
| DoublePinTrackShoeType | m_topology |
| topology of the track shoe (one or two connectors) | |
| std::shared_ptr< ChBody > | m_connector_L |
| left connector body | |
| std::shared_ptr< ChBody > | m_connector_R |
| right connector body | |
| std::shared_ptr< ChJoint > | m_joint_L |
| shoe - left connector joint | |
| std::shared_ptr< ChJoint > | m_joint_R |
| shoe - right connector joint | |
| std::shared_ptr< ChLinkRSDA > | m_rsda_L |
| optional RSDA on left revolute | |
| std::shared_ptr< ChLinkRSDA > | m_rsda_R |
| optional RSDA on right revolute | |
| std::shared_ptr< ChJoint > | m_connection_joint_L |
| connection to neighboring track shoe | |
| std::shared_ptr< ChJoint > | m_connection_joint_R |
| connection to neighboring track shoe | |
| std::shared_ptr< ChLinkRSDA > | m_connection_rsda_L |
| optional RSDA on connection | |
| std::shared_ptr< ChLinkRSDA > | m_connection_rsda_R |
| optional RSDA on connection | |
| Protected Attributes inherited from chrono::vehicle::ChTrackShoeSegmented | |
| utils::ChBodyGeometry | m_geometry |
| collection of visualization and collision shapes | |
| ChContactMaterialData | m_shoe_sprk_minfo |
| data for contact material for shoe shape contacting sprocket | |
| Protected Attributes inherited from chrono::vehicle::ChTrackShoe | |
| size_t | m_index |
| index of this track shoe within its containing track assembly | |
| std::shared_ptr< ChBody > | m_shoe |
| handle to the shoe body | |
| Protected Attributes inherited from chrono::vehicle::ChPart | |
| std::string | m_name |
| subsystem name | |
| bool | m_initialized |
| specifies whether or 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 | |
| int | m_obj_tag |
| tag for part objects | |
Member Function Documentation
◆ GetType()
|
inlinefinaloverridevirtual |
Return the type of track shoe (guiding pin).
A derived class must specify the type of track shoe (which must be consistent with the idler and road wheels in the containing track assembly.
Implements chrono::vehicle::ChTrackShoe.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/TrackShoeDoublePin.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/TrackShoeDoublePin.cpp
