chrono::vehicle::m113::M113_TrackShoeBandBushing Class Reference

Description

Continuous band rigid-link track shoe subsystem for the M113 vehicle.

#include <M113_TrackShoeBandBushing.h>

Inheritance diagram for chrono::vehicle::m113::M113_TrackShoeBandBushing:
Collaboration diagram for chrono::vehicle::m113::M113_TrackShoeBandBushing:

Public Member Functions

 M113_TrackShoeBandBushing (const std::string &name)
 
virtual GuidePinType GetType () const override
 Return the type of track shoe (guiding pin). More...
 
virtual double GetHeight () const override
 Return the height of the track shoe.
 
virtual double GetTreadMass () const override
 Return the mass of the tread body.
 
virtual double GetWebMass () const override
 Return the mass of the web. More...
 
virtual const ChVector3dGetTreadInertia () const override
 Return the moments of inertia of the tread body.
 
virtual const ChVector3dGetWebInertia () const override
 Return the moments of inertia of the web. More...
 
virtual const ChVector3dGetGuideBoxDimensions () const override
 Return the dimensions of the contact box for the guiding pin. More...
 
virtual double GetGuideBoxOffsetX () const override
 Return the offset (in X direction) of the guiding pin.
 
virtual double GetBeltWidth () const override
 Return belt geometry parameters.
 
virtual double GetToothTipLength () const override
 Return the length of the flat tip of the tread tooth tip (in the X direction)
 
virtual double GetToothBaseLength () const override
 Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends.
 
virtual double GetToothWidth () const override
 Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction)
 
virtual double GetToothHeight () const override
 Return the height from the base to the tip of the tread tooth profile (in the Z direction)
 
virtual double GetToothArcRadius () const override
 Return the radius of the tooth profile arc that connects the tooth tip and base lines.
 
virtual unsigned int GetNumWebSegments () const override
 Return the number of segments that the web section is broken up into.
 
virtual double GetWebLength () const override
 Return the combined length of all of the web sections (in the X direction)
 
virtual double GetWebThickness () const override
 Return the thickness of the web section (in the Z direction)
 
virtual double GetTreadLength () const override
 Return the length of the tread below the web area (in the X direction, tread pad for ground contact)
 
virtual double GetTreadThickness () const override
 Return the thickness of the tread below the web area (tread pad for ground contact)
 
virtual std::shared_ptr< ChVehicleBushingDataGetBushingData () const override
 Return bushing stiffness and damping data.
 
virtual const std::string & GetTreadVisualizationMeshName () const override
 Specify the name assigned to the procedurally-generated tread body visualization mesh.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeBandBushing
 ChTrackShoeBandBushing (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual ChVector3d GetTension () const override
 Get track tension at this track shoe. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeBand
 ChTrackShoeBand (const std::string &name)
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
void WriteTreadVisualizationMesh (const std::string &out_dir)
 Write the procedurally-generated tread body visualization mesh to a Wavefront OBJ file.
 
void ExportTreadVisualizationMeshPovray (const std::string &out_dir)
 Export the procedurally-generated tread body visualization mesh as a macro in a PovRay include file.
 
- 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< ChBodyGetShoeBody () const
 Get the shoe body.
 
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.
 
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.
 
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 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::ChTrackShoeBandBushing
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
double GetWebSegmentLength ()
 Return the length of just one of the web sections (in the X direction).
 
std::shared_ptr< ChBodyGetWebSegment (size_t index)
 Return a pointer to the web segment body with the provided index.
 
virtual void AddWebContact (std::shared_ptr< ChBody > segment, std::shared_ptr< ChContactMaterial > web_mat)
 Add contact geometry for a web segment body.
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoeBand
virtual ChVector3d GetLateralContactPoint () const override
 Return the location of the guiding pin center, expressed in the shoe reference frame.
 
void AddShoeContact (ChContactMethod contact_method)
 Add contact geometry for the tread body. More...
 
void AddShoeVisualization ()
 Add visualization of the tread body, based on primitives corresponding to the contact shapes. More...
 
- 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...
 
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 Member Functions inherited from chrono::vehicle::ChTrackShoeBand
static ChColor GetColor (size_t index)
 Get index-specific color (for visualization)
 
- 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::ChTrackShoeBand
ChContactMaterialData m_tooth_matinfo
 data for contact material for teeth (sprocket interaction)
 
ChContactMaterialData m_body_matinfo
 date for contact material for main body (wheel interaction)
 
ChContactMaterialData m_pad_matinfo
 data for contact material for pad (ground interaction)
 
ChContactMaterialData m_guide_matinfo
 date for contact material for guide pin (wheel interaction)
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoe
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
 

Member Function Documentation

◆ GetGuideBoxDimensions()

virtual const ChVector3d& chrono::vehicle::m113::M113_TrackShoeBandBushing::GetGuideBoxDimensions ( ) const
inlineoverridevirtual

Return the dimensions of the contact box for the guiding pin.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

Implements chrono::vehicle::ChTrackShoeBand.

◆ GetType()

virtual GuidePinType chrono::vehicle::m113::M113_TrackShoeBandBushing::GetType ( ) const
inlineoverridevirtual

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.

◆ GetWebInertia()

virtual const ChVector3d& chrono::vehicle::m113::M113_TrackShoeBandBushing::GetWebInertia ( ) const
inlineoverridevirtual

Return the moments of inertia of the web.

These will be distributed over the specified number of web segments.

Implements chrono::vehicle::ChTrackShoeBand.

◆ GetWebMass()

virtual double chrono::vehicle::m113::M113_TrackShoeBandBushing::GetWebMass ( ) const
inlineoverridevirtual

Return the mass of the web.

This will be equally distributed over the specified number of web segments.

Implements chrono::vehicle::ChTrackShoeBand.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/track_shoe/M113_TrackShoeBandBushing.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/track_shoe/M113_TrackShoeBandBushing.cpp