Description

Definition of a track assembly.

A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of rollers, a set of suspensions (road-wheel assemblies), and a collection of track shoes.

#include <ChTrackAssembly.h>

Inheritance diagram for chrono::vehicle::ChTrackAssembly:
Collaboration diagram for chrono::vehicle::ChTrackAssembly:

Public Member Functions

VehicleSide GetVehicleSide () const
 Return the vehicle side for this track assembly.
 
size_t GetNumTrackSuspensions () const
 Get the number of suspensions.
 
size_t GetNumRollers () const
 Get the number of rollers.
 
virtual size_t GetNumTrackShoes () const =0
 Get the number of track shoes.
 
virtual std::shared_ptr< ChSprocketGetSprocket () const =0
 Get a handle to the sprocket.
 
std::shared_ptr< ChIdlerGetIdler () const
 Get a handle to the idler subsystem.
 
std::shared_ptr< ChTrackWheelGetIdlerWheel () const
 Get a handle to the idelr wheel subsystem.
 
std::shared_ptr< ChTrackBrakeGetBrake () const
 Get a handle to the brake subsystem.
 
const ChTrackSuspensionListGetTrackSuspensions () const
 Get the list of suspension subsystems.
 
std::shared_ptr< ChTrackSuspensionGetTrackSuspension (size_t id) const
 Get a handle to the specified suspension subsystem.
 
std::shared_ptr< ChTrackWheelGetRoller (size_t id) const
 Get a handle to the specified roller subsystem.
 
std::shared_ptr< ChTrackWheelGetRoadWheel (size_t id) const
 Get a handle to the specified road wheel subsystem.
 
virtual std::shared_ptr< ChTrackShoeGetTrackShoe (size_t id) const =0
 Get a handle to the specified track shoe subsystem.
 
const ChVector3dGetTrackShoePos (size_t id) const
 Get the global location of the specified track shoe. More...
 
const ChQuaternionGetTrackShoeRot (size_t id) const
 Get the orientation of the specified track shoe. More...
 
const ChVector3dGetTrackShoeLinVel (size_t id) const
 Get the linear velocity of the specified track shoe. More...
 
ChVector3d GetTrackShoeAngVel (size_t id) const
 Get the angular velocity of the specified track shoe. More...
 
ChVector3d GetTrackShoeTension (size_t id) const
 Get track tension at the specified track shoe. More...
 
BodyState GetTrackShoeState (size_t id) const
 Get the complete state for the specified track shoe. More...
 
void GetTrackShoeStates (BodyStates &states) const
 Get the complete states for all track shoes. More...
 
virtual const ChVector3d GetSprocketLocation () const =0
 Get the relative location of the sprocket subsystem. More...
 
virtual const ChVector3d GetIdlerLocation () const =0
 Get the relative location of the idler subsystem. More...
 
virtual const ChVector3d GetRoadWhelAssemblyLocation (int which) const =0
 Get the relative location of the specified suspension subsystem. More...
 
virtual const ChVector3d GetRollerLocation (int which) const
 Get the relative location of the specified roller subsystem. More...
 
void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, bool create_shoes=true)
 Initialize this track assembly subsystem. More...
 
double ReportTrackLength () const
 Return total assembled track length (sum of pitch over all track shoes).
 
ChTrackSuspension::ForceTorque ReportSuspensionForce (size_t id) const
 Return current suspension forces or torques, as appropriate (spring and shock) for the specified suspension. More...
 
void SetSprocketVisualizationType (VisualizationType vis)
 Set visualization type for the sprocket subsystem.
 
void SetIdlerVisualizationType (VisualizationType vis)
 
void SetSuspensionVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystems.
 
void SetIdlerWheelVisualizationType (VisualizationType vis)
 Set visualization type for the idler-wheel subsystems.
 
void SetRoadWheelVisualizationType (VisualizationType vis)
 Set visualization type for the road-wheel subsystems.
 
void SetRollerVisualizationType (VisualizationType vis)
 Set visualization type for the roller subsystems.
 
void SetTrackShoeVisualizationType (VisualizationType vis)
 Set visualization type for the track shoe subsystems.
 
void SetWheelCollisionType (bool roadwheel_as_cylinder, bool idler_as_cylinder, bool roller_as_cylinder)
 Set collision shape type for wheels.
 
void Synchronize (double time, double braking)
 Update the state of this track assembly at the current time. More...
 
void Synchronize (double time, double braking, const TerrainForces &shoe_forces)
 Update the state of this track assembly at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this track assembly by the specified time step.
 
virtual void SetOutput (bool state) override
 Enable/disable output for this subsystem. More...
 
void LogConstraintViolations ()
 Log current constraint violations.
 
bool IsRoadwheelCylinder () const
 
bool IsIdlerCylinder () const
 
bool IsRolerCylinder () const
 
- 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.
 

Protected Member Functions

 ChTrackAssembly (const std::string &name, VehicleSide side)
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual bool Assemble (std::shared_ptr< ChBodyAuxRef > chassis)=0
 Assemble track shoes over wheels. More...
 
virtual void RemoveTrackShoes ()=0
 Remove all track shoes from assembly.
 
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 (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

VehicleSide m_side
 assembly on left/right vehicle side
 
ChVector3d m_rel_loc
 assembly location relative to chassis
 
std::shared_ptr< ChIdlerm_idler
 idler (and tensioner) subsystem
 
std::shared_ptr< ChTrackBrakem_brake
 sprocket brake
 
ChTrackSuspensionList m_suspensions
 road-wheel assemblies
 
ChTrackWheelList m_rollers
 roller subsystems
 
bool m_roadwheel_as_cylinder
 
bool m_idler_as_cylinder
 
bool m_roller_as_cylinder
 
std::vector< std::shared_ptr< ChLoadBodyForce > > m_shoe_terrain_forces
 terrain force loads on track shoes
 
std::vector< std::shared_ptr< ChLoadBodyTorque > > m_shoe_terrain_torques
 terrain torque loads on track shoes
 
- 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 ChTrackedVehicle
 
class ChTrackTestRig
 

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).
 

Constructor & Destructor Documentation

◆ ChTrackAssembly()

chrono::vehicle::ChTrackAssembly::ChTrackAssembly ( const std::string &  name,
VehicleSide  side 
)
protected
Parameters
[in]namename of the subsystem
[in]sideassembly on left/right vehicle side

Member Function Documentation

◆ Assemble()

virtual bool chrono::vehicle::ChTrackAssembly::Assemble ( std::shared_ptr< ChBodyAuxRef chassis)
protectedpure virtual

Assemble track shoes over wheels.

Return true if the track shoes were initialized in a counter clockwise direction and false otherwise.

◆ ExportComponentList()

void chrono::vehicle::ChTrackAssembly::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.

◆ GetIdlerLocation()

◆ GetRoadWhelAssemblyLocation()

virtual const ChVector3d chrono::vehicle::ChTrackAssembly::GetRoadWhelAssemblyLocation ( int  which) const
pure virtual

◆ GetRollerLocation()

virtual const ChVector3d chrono::vehicle::ChTrackAssembly::GetRollerLocation ( int  which) const
inlinevirtual

Get the relative location of the specified roller subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Reimplemented in chrono::vehicle::TrackAssemblyBandANCF, chrono::vehicle::TrackAssemblyBandBushing, chrono::vehicle::TrackAssemblyDoublePin, chrono::vehicle::TrackAssemblySinglePin, and chrono::vehicle::marder::Marder_TrackAssemblySinglePin.

◆ GetSprocketLocation()

◆ GetTrackShoeAngVel()

ChVector3d chrono::vehicle::ChTrackAssembly::GetTrackShoeAngVel ( size_t  id) const
inline

Get the angular velocity of the specified track shoe.

Return the angular velocity of the shoe body frame, expressed in the global reference frame.

◆ GetTrackShoeLinVel()

const ChVector3d& chrono::vehicle::ChTrackAssembly::GetTrackShoeLinVel ( size_t  id) const
inline

Get the linear velocity of the specified track shoe.

Return the linear velocity of the shoe body center, expressed in the global reference frame.

◆ GetTrackShoePos()

const ChVector3d& chrono::vehicle::ChTrackAssembly::GetTrackShoePos ( size_t  id) const
inline

Get the global location of the specified track shoe.

The returned location is that of the shoe body in the track shoe subsystem.

◆ GetTrackShoeRot()

const ChQuaternion& chrono::vehicle::ChTrackAssembly::GetTrackShoeRot ( size_t  id) const
inline

Get the orientation of the specified track shoe.

The track shoe body orientation is returned as a quaternion representing a rotation with respect to the global reference frame. This is the orientation of the shoe body in the track shoe subsystem.

◆ GetTrackShoeState()

BodyState chrono::vehicle::ChTrackAssembly::GetTrackShoeState ( size_t  id) const

Get the complete state for the specified track shoe.

This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame.

◆ GetTrackShoeStates()

void chrono::vehicle::ChTrackAssembly::GetTrackShoeStates ( BodyStates states) const

Get the complete states for all track shoes.

These include the locations, orientations, linear and angular velocities for all track shoes in this track assembly, all expressed in the global reference frame. It is assumed that the vector of body states was properly sized.

◆ GetTrackShoeTension()

ChVector3d chrono::vehicle::ChTrackAssembly::GetTrackShoeTension ( size_t  id) const
inline

Get track tension at the specified track shoe.

Return is the force due to the connections of this track shoe, expressed in the track shoe reference frame.

◆ Initialize()

void chrono::vehicle::ChTrackAssembly::Initialize ( std::shared_ptr< ChChassis chassis,
const ChVector3d location,
bool  create_shoes = true 
)

Initialize this track assembly subsystem.

The 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 track assembly reference frame is always aligned with the chassis reference frame.

Parameters
[in]chassischassis subsystem
[in]locationlocation relative to the chassis frame
[in]create_shoescontrol creation of the actual track

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackAssembly::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.

◆ ReportSuspensionForce()

ChTrackSuspension::ForceTorque chrono::vehicle::ChTrackAssembly::ReportSuspensionForce ( size_t  id) const

Return current suspension forces or torques, as appropriate (spring and shock) for the specified suspension.

Different suspension types will load different quantities in the output struct.

◆ SetOutput()

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

Enable/disable output for this subsystem.

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

Reimplemented from chrono::vehicle::ChPart.

◆ Synchronize() [1/2]

void chrono::vehicle::ChTrackAssembly::Synchronize ( double  time,
double  braking 
)

Update the state of this track assembly at the current time.

Parameters
[in]timecurrent time
[in]brakingbraking driver input

◆ Synchronize() [2/2]

void chrono::vehicle::ChTrackAssembly::Synchronize ( double  time,
double  braking,
const TerrainForces shoe_forces 
)

Update the state of this track assembly at the current time.

This version is called if co-simulating with an external terain system.

Parameters
[in]timecurrent time
[in]brakingbraking driver input
[in]shoe_forcesvector of tire force structures

◆ UpdateInertiaProperties()

void chrono::vehicle::ChTrackAssembly::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/ChTrackAssembly.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackAssembly.cpp