Description
Base class for an idler subsystem.
An idler consists of the idler wheel and a connecting body. The idler wheel is connected through a revolute joint to the connecting body which in turn is connected to the chassis through a translational joint. A linear actuator acts as a tensioner.
#include <ChIdler.h>


Public Member Functions | |
virtual GuidePinType | GetType () const =0 |
Return the type of track shoe consistent with this idler. | |
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. | |
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track) |
Initialize this idler subsystem. More... | |
virtual void | AddVisualizationAssets (VisualizationType vis) override |
Add visualization assets for the idler subsystem. More... | |
virtual void | RemoveVisualizationAssets () override |
Remove visualization assets for the idler subsystem. More... | |
void | LogConstraintViolations () |
Log current constraint violations. | |
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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. | |
virtual std::string | GetTemplateName () const =0 |
Get the name of the vehicle subsystem template. | |
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 Types | |
enum | PointId { WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER, TSDA_CHASSIS, NUM_POINTS } |
Identifiers for the various hardpoints. More... | |
Protected Member Functions | |
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. | |
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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... | |
Protected Attributes | |
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 | |
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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 | |
Friends | |
class | ChTrackAssembly |
Additional Inherited Members | |
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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... | |
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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). | |
Member Enumeration Documentation
◆ PointId
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protected |
Member Function Documentation
◆ AddVisualizationAssets()
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overridevirtual |
Add visualization assets for the idler subsystem.
This default implementation adds assets to the carrier body.
Reimplemented from chrono::vehicle::ChPart.
Reimplemented in chrono::vehicle::marder::Marder_Idler, chrono::vehicle::m113::M113_Idler, chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.
◆ ExportComponentList()
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overrideprotectedvirtual |
Export this subsystem's component list to the specified JSON object.
Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.
Reimplemented from chrono::vehicle::ChPart.
◆ GetLocation()
Return the location of the specified hardpoint.
The returned location must be expressed in the idler subsystem reference frame.
Implemented in chrono::vehicle::m113::M113_Idler, and chrono::vehicle::marder::Marder_Idler.
◆ Initialize()
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virtual |
Initialize this idler subsystem.
The idler subsystem is initialized by attaching it to the specified chassis at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the idler subsystem reference frame is always aligned with the chassis reference frame. A derived idler subsystem template class must extend this default implementation and specify contact geometry for the idler wheel.
- Parameters
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[in] chassis associated chassis [in] location location relative to the chassis frame [in] track containing track assembly
Reimplemented in chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.
◆ InitializeInertiaProperties()
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overrideprotectedvirtual |
Initialize subsystem inertia properties.
Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.
Implements chrono::vehicle::ChPart.
◆ RemoveVisualizationAssets()
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overridevirtual |
Remove visualization assets for the idler subsystem.
This default implementation removes the assets from the carrier body.
Reimplemented from chrono::vehicle::ChPart.
Reimplemented in chrono::vehicle::ChDoubleIdler, and chrono::vehicle::ChSingleIdler.
◆ UpdateInertiaProperties()
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overrideprotectedvirtual |
Update subsystem inertia properties.
Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.
Implements chrono::vehicle::ChPart.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChIdler.h
- /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChIdler.cpp