Description

Base class for an idler subsystem.

#include <ChIdler.h>

Inheritance diagram for chrono::vehicle::ChIdler:
Collaboration diagram for chrono::vehicle::ChIdler:

Public Member Functions

GuidePinType GetType () const
 Return the type of track shoe consistent with this road wheel.
 
std::shared_ptr< ChTrackWheelGetIdlerWheel () const
 Return the idler wheel subsystem.
 
std::shared_ptr< ChBodyGetWheelBody () const
 Return the body of the idler wheel.
 
virtual std::shared_ptr< ChBodyGetCarrierBody () const =0
 Return a handle to the carrier body to which the idler wheel is connected.
 
double GetWheelRadius () const
 Get the radius of the idler wheel.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, ChTrackAssembly *track)
 Initialize this idler subsystem. More...
 
virtual void SetOutput (bool state) override
 Enable/disable output for this subsystem. More...
 
virtual void LogConstraintViolations ()=0
 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
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 AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

 ChIdler (const std::string &name)
 Construct an idler subsystem with given name.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
virtual void InitializeInertiaProperties ()=0
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties ()=0
 Update subsystem inertia properties. More...
 
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.
 

Protected Attributes

GuidePinType m_type
 type of the track shoe matching this road wheel
 
ChVector3d m_rel_loc
 idler subsystem location relative to chassis
 
std::shared_ptr< ChTrackWheelm_idler_wheel
 idler-wheel subsystem
 
ChTrackAssemblym_track
 containing track assembly
 
- 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
 

Friends

class ChTrackAssembly
 

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).
 

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChIdler::ExportComponentList ( rapidjson::Document &  jsonDocument) const
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.

Reimplemented in chrono::vehicle::ChTranslationalIdler, and chrono::vehicle::ChDistanceIdler.

◆ Initialize()

void chrono::vehicle::ChIdler::Initialize ( std::shared_ptr< ChChassis chassis,
const ChVector3d location,
ChTrackAssembly track 
)
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
[in]chassisassociated chassis
[in]locationlocation relative to the chassis frame
[in]trackcontaining track assembly

Reimplemented in chrono::vehicle::ChDistanceIdler, and chrono::vehicle::ChTranslationalIdler.

◆ SetOutput()

void chrono::vehicle::ChIdler::SetOutput ( bool  state)
overridevirtual

Enable/disable output for this subsystem.

This function overrides the output setting for all components of this suspension assembly.

Reimplemented from 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