Public Member Functions |
Protected Member Functions |
Static Protected Attributes |
List of all members
chrono::vehicle::m113::M113_SprocketDoublePin Class Referenceabstract
Description
M113 sprocket subsystem, suitable for interaction with double-pin track shoes (base class).
#include <M113_SprocketDoublePin.h>
Inheritance diagram for chrono::vehicle::m113::M113_SprocketDoublePin:
Collaboration diagram for chrono::vehicle::m113::M113_SprocketDoublePin:
Public Member Functions | |
| virtual unsigned int | GetNumTeeth () const override |
| Get the number of teeth of the gear. | |
| virtual double | GetAssemblyRadius () const override |
| Get the radius of the gear. More... | |
| virtual double | GetAddendumRadius () const override |
| Get the addendum radius. More... | |
| virtual double | GetGearMass () const override |
| Return the mass of the gear body. | |
| virtual const ChVector3d & | GetGearInertia () override |
| Return the moments of inertia of the gear body. | |
| virtual double | GetAxleInertia () const override |
| Return the inertia of the axle shaft. | |
| virtual double | GetSeparation () const override |
| Return the distance between the two gear profiles. | |
| virtual double | GetOuterRadius () const override |
| Return the radius of the addendum circle. | |
| virtual double | GetArcRadius () const override |
| Return the radius of the (concave) tooth circular arc. | |
| virtual double | GetArcCenterHeight () const override |
| Return height of arc center. | |
| virtual double | GetArcCenterOffset () const override |
| Return offset of arc center. | |
| virtual double | GetLateralBacklash () const override |
| Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking). | |
 Public Member Functions inherited from chrono::vehicle::ChSprocketDoublePin | |
| ChSprocketDoublePin (const std::string &name) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual std::shared_ptr< ChLinePath > | GetProfile () const override |
| Return the 2D gear profile. More... | |
| virtual std::shared_ptr< ChSystem::CustomCollisionCallback > | GetCollisionCallback (ChTrackAssembly *track) override |
| Return the custom collision callback object. More... | |
| Public Member Functions inherited from chrono::vehicle::ChSprocket | |
| std::shared_ptr< ChBody > | GetGearBody () const |
| Get a handle to the gear body. | |
| std::shared_ptr< ChShaft > | GetAxle () const |
| Get a handle to the axle shaft. | |
| std::shared_ptr< ChLinkLockRevolute > | GetRevolute () const |
| Get a handle to the revolute joint. | |
| double | GetAxleSpeed () const |
| Get the angular speed of the axle. | |
| void | EnableCollision (bool val) |
| Turn on/off collision flag for the gear wheel. | |
| std::shared_ptr< ChContactMaterial > | GetContactMaterial () const |
| Get the sprocket contact material. | |
| void | DisableLateralContact () |
| Disable lateral contact for preventing detracking (default: enabled). | |
| virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, ChTrackAssembly *track) |
| Initialize this sprocket subsystem. More... | |
| void | ApplyAxleTorque (double torque) |
| Apply the provided torque to the sprocket's axle (for debugging and testing). More... | |
| std::shared_ptr< ChTriangleMeshConnected > | CreateVisualizationMesh (double radius, double width, double delta, ChColor color=ChColor(1, 1, 1)) const |
| Utility function to create a sprocket visualization mesh. More... | |
| virtual void | RemoveVisualizationAssets () override |
| Remove visualization assets for the sprocket subsystem. | |
| void | LogConstraintViolations () |
| Log current constraint violations. | |
| 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. | |
| 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. | |
Protected Member Functions | |
| M113_SprocketDoublePin (const std::string &name) | |
| virtual void | CreateContactMaterial (ChContactMethod contact_method) override |
| Create the contact material consistent with the specified contact method. | |
| virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization of the sprocket. | |
| virtual std::string | GetMeshFile () const =0 |
| Protected Member Functions inherited from chrono::vehicle::ChSprocket | |
| ChSprocket (const std::string &name) | |
| Construct a sprocket subsystem with given name. | |
| virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties. More... | |
| virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties. More... | |
| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
| Export this subsystem's component list to the specified JSON object. | |
| 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. | |
Static Protected Attributes | |
| static const int | m_num_teeth = 10 |
| static const double | m_gear_mass = 27.68 |
| static const ChVector3d | m_gear_inertia |
| static const double | m_axle_inertia = 0.4 |
| static const double | m_separation = 0.278 |
| static const double | m_gear_RT = 0.2715 |
| static const double | m_gear_R = 0.0223 |
| static const double | m_gear_C = 0.2371 |
| static const double | m_gear_W = 0.0464 |
| static const double | m_gear_RA = 0.242 |
| static const double | m_lateral_backlash = 0.02 |
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). | |
| Protected Attributes inherited from chrono::vehicle::ChSprocket | |
| ChVector3d | m_rel_loc |
| sprocket subsystem location relative to chassis | |
| std::shared_ptr< ChBody > | m_gear |
| sprocket gear body | |
| std::shared_ptr< ChShaft > | m_axle |
| gear shafts | |
| std::shared_ptr< ChShaftBodyRotation > | m_axle_to_spindle |
| gear-shaft connector | |
| std::shared_ptr< ChLinkLockRevolute > | m_revolute |
| sprocket revolute joint | |
| std::shared_ptr< ChContactMaterial > | m_material |
| contact material; | |
| std::shared_ptr< ChSystem::CustomCollisionCallback > | m_callback |
| cached collision callback | |
| bool | m_lateral_contact |
| if 'true', enable lateral conatact to prevent detracking | |
| 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 | |
Member Function Documentation
◆ GetAddendumRadius()
|
inlineoverridevirtual |
Get the addendum radius.
This quantity is an average radius for sprocket-track engagement used to estimate longitudinal slip.
Implements chrono::vehicle::ChSprocket.
◆ GetAssemblyRadius()
|
inlineoverridevirtual |
Get the radius of the gear.
This quantity is used during the automatic track assembly.
Implements chrono::vehicle::ChSprocket.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/sprocket/M113_SprocketDoublePin.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/sprocket/M113_SprocketDoublePin.cpp
