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>

Inheritance diagram for chrono::vehicle::ChIdler:

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Collaboration diagram for chrono::vehicle::ChIdler:

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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.

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.

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.

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...

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

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

Friends
class	ChTrackAssembly

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.

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

enum chrono::vehicle::ChIdler::PointId

protected

Identifiers for the various hardpoints.

Enumerator
WHEEL	idler wheel location
CARRIER	carrier location
CARRIER_CHASSIS	carrier, connection to chassis (translational)
TSDA_CARRIER	TSDA connection to carrier.
TSDA_CHASSIS	TSDA connection to chassis.

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChIdler::AddVisualizationAssets ( VisualizationType vis )

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()

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.

◆ GetLocation()

virtual const ChVector chrono::vehicle::ChIdler::GetLocation ( PointId which )

protectedpure virtual

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()

void chrono::vehicle::ChIdler::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector<> &	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]	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()

void chrono::vehicle::ChIdler::InitializeInertiaProperties ( )

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()

void chrono::vehicle::ChIdler::RemoveVisualizationAssets ( )

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()

void chrono::vehicle::ChIdler::UpdateInertiaProperties ( )

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

Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Enumeration Documentation

◆ PointId

Member Function Documentation

◆ AddVisualizationAssets()

◆ ExportComponentList()

◆ GetLocation()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ RemoveVisualizationAssets()

◆ UpdateInertiaProperties()