chrono::vehicle::ChDoubleIdler Class Referenceabstract
Description
Base class for a double idler (template definition).
#include <ChDoubleIdler.h>
Inheritance diagram for chrono::vehicle::ChDoubleIdler:
Collaboration diagram for chrono::vehicle::ChDoubleIdler:
Public Member Functions | |
ChDoubleIdler (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 idler. | |
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track) override |
Initialize this idler subsystem. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the idler subsystem. | |
virtual void | RemoveVisualizationAssets () override final |
Remove visualization assets for the idler subsystem. | |
Public Member Functions inherited from chrono::vehicle::ChIdler | |
std::shared_ptr< ChBody > | GetWheelBody () const |
Get a handle to the road wheel body. | |
std::shared_ptr< ChLinkLockRevolute > | GetRevolute () const |
Get a handle to the revolute joint. | |
std::shared_ptr< ChLinkTSDA > | GetTensioner () const |
Get the tensioner force element. | |
virtual double | GetWheelRadius () const =0 |
Get the radius of the idler wheel. | |
void | SetCollide (bool val) |
Turn on/off collision flag for the idler wheel. | |
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. | |
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 | |
virtual double | GetWheelWidth () const =0 |
Return the total width of the idler wheel. | |
virtual double | GetWheelGap () const =0 |
Return the gap width. | |
Protected Member Functions inherited from chrono::vehicle::ChIdler | |
ChIdler (const std::string &name) | |
Construct an idler subsystem with given name. | |
virtual void | InitializeInertiaProperties () override |
Initialize subsystem inertia properties. More... | |
virtual void | UpdateInertiaProperties () override |
Update subsystem inertia properties. More... | |
virtual const ChVector | GetLocation (PointId which)=0 |
Return the location of the specified hardpoint. More... | |
virtual double | GetWheelMass () const =0 |
Return the mass of the idler wheel body. | |
virtual const ChVector & | GetWheelInertia ()=0 |
Return the moments of inertia of the idler wheel body. | |
virtual double | GetCarrierMass () const =0 |
Return the mass of the carrier body. | |
virtual const ChVector & | GetCarrierInertia ()=0 |
Return the moments of inertia of the carrier body. | |
virtual double | GetCarrierVisRadius () const =0 |
Return a visualization radius for the carrier body. | |
virtual double | GetPrismaticPitchAngle () const =0 |
Return the pitch angle of the prismatic joint. | |
virtual std::shared_ptr< ChLinkTSDA::ForceFunctor > | GetTensionerForceCallback () const =0 |
Return the functor object for spring force. | |
virtual double | GetTensionerFreeLength () const =0 |
Return the free length for the tensioner spring. | |
virtual void | CreateContactMaterial (ChContactMethod contact_method)=0 |
Create the contact material consistent with the specified contact method. | |
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 | |
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 (ChVector<> &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... | |
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... | |
Protected Types inherited from chrono::vehicle::ChIdler | |
enum | PointId { WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER, TSDA_CHASSIS, NUM_POINTS } |
Identifiers for the various hardpoints. 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. | |
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::ChIdler | |
ChVector | m_rel_loc |
idler subsystem location relative to chassis | |
std::shared_ptr< ChBody > | m_wheel |
idler wheel body | |
std::shared_ptr< ChBody > | m_carrier |
carrier body | |
std::shared_ptr< ChLinkLockRevolute > | m_revolute |
wheel-carrier revolute joint | |
std::shared_ptr< ChLinkLockPrismatic > | m_prismatic |
carrier-chassis translational joint | |
std::shared_ptr< ChLinkTSDA > | m_tensioner |
TSDA tensioner element. | |
std::shared_ptr< ChMaterialSurface > | 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_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 | |
Constructor & Destructor Documentation
◆ ChDoubleIdler()
chrono::vehicle::ChDoubleIdler::ChDoubleIdler | ( | const std::string & | name | ) |
- Parameters
-
[in] name name of the subsystem
Member Function Documentation
◆ Initialize()
|
overridevirtual |
Initialize this idler subsystem.
- Parameters
-
[in] chassis associated chassis [in] location location relative to the chassis frame [in] track containing track assembly
Reimplemented from chrono::vehicle::ChIdler.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/idler/ChDoubleIdler.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/idler/ChDoubleIdler.cpp