Description

Road-wheel model for the Marder vehicle (base class).

#include <Marder_RoadWheel.h>

Inheritance diagram for chrono::vehicle::marder::Marder_RoadWheel:
Collaboration diagram for chrono::vehicle::marder::Marder_RoadWheel:

Public Member Functions

virtual double GetWheelMass () const override
 Return the mass of the idler wheel body.
 
virtual const ChVectorGetWheelInertia () override
 Return the moments of inertia of the idler wheel body.
 
virtual double GetWheelRadius () const override
 Return the radius of the idler wheel.
 
virtual double GetWheelWidth () const override
 Return the total width of the idler wheel.
 
virtual double GetWheelGap () const override
 Return the gap width.
 
- Public Member Functions inherited from chrono::vehicle::ChDoubleRoadWheel
 ChDoubleRoadWheel (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual GuidePinType GetType () const final override
 Return the type of track shoe consistent with this road wheel.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, std::shared_ptr< ChBody > carrier, const ChVector<> &location, ChTrackAssembly *track) override
 Initialize this road wheel subsystem. More...
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the road-wheel subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChRoadWheel
 ChRoadWheel (const std::string &name)
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
void SetCollide (bool val)
 Turn on/off collision flag for the road wheel.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
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.
 
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

 Marder_RoadWheel (const std::string &name)
 
virtual VehicleSide GetVehicleSide () const =0
 
virtual std::string GetMeshFile () const =0
 
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 road wheel.
 
- Protected Member Functions inherited from chrono::vehicle::ChRoadWheel
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
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
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Static Protected Attributes

static const double m_wheel_mass = 35.56
 
static const ChVector m_wheel_inertia
 
static const double m_wheel_radius = 0.350
 
static const double m_wheel_width = 0.220
 
static const double m_wheel_gap = 0.051
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &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 ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
- Protected Attributes inherited from chrono::vehicle::ChRoadWheel
std::shared_ptr< ChBodym_wheel
 handle to the road wheel body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to wheel revolute joint
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
ChTrackAssemblym_track
 containing track assembly
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 

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