Description

Base class for an idler subsystem.

#include <ChIdler.h>

Inheritance diagram for chrono::vehicle::ChIdler:

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Collaboration diagram for chrono::vehicle::ChIdler:

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Public Member Functions
GuidePinType	GetType () const
	Return the type of track shoe consistent with this road wheel.

std::shared_ptr< ChTrackWheel >	GetIdlerWheel () const
	Return the idler wheel subsystem.

std::shared_ptr< ChBody >	GetWheelBody () const
	Return the body of the idler wheel.

virtual std::shared_ptr< ChBody >	GetCarrierBody () 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.

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.

virtual uint16_t	GetVehicleTag () const
	Get the tag of the associated vehicle. More...

int	GetBodyTag () const
	Get the tag for component bodies.

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	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	Construct (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, ChTrackAssembly *track)=0
	Construct the concrete idler subsystem. More...

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< ChTrackWheel >	m_idler_wheel
	idler-wheel subsystem

ChTrackAssembly *	m_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< 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

int	m_obj_tag
	tag for part objects

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

◆ Construct()

virtual void chrono::vehicle::ChIdler::Construct	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector3d &	location,
		ChTrackAssembly *	track
	)

protectedpure virtual

Construct the concrete 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]	chassis	associated chassis
[in]	location	location relative to the chassis frame
[in]	track	containing track assembly

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

◆ 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
	)

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]	chassis	associated chassis
[in]	location	location relative to the chassis frame
[in]	track	containing track assembly

◆ 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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ Construct()

◆ ExportComponentList()

◆ Initialize()

◆ SetOutput()