Description

Definition of a continuous band track assembly using an ANCFshell-based web A track assembly consists of a sprocket, an idler (with tensioner mechanism), a set of suspensions (road-wheel assemblies), and a collection of track shoes.

This class defines the template for a track assembly using a web modeled as an FEA mesh with ANCF shell elements.

#include <ChTrackAssemblyBandANCF.h>

Inheritance diagram for chrono::vehicle::ChTrackAssemblyBandANCF:

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Collaboration diagram for chrono::vehicle::ChTrackAssemblyBandANCF:

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Public Types
enum	ContactSurfaceType { NONE, NODE_CLOUD, TRIANGLE_MESH }
	Type of the mesh contact surface.

Public Member Functions
	ChTrackAssemblyBandANCF (const std::string &name, VehicleSide side)
	Construct an ANCFshell-based track assembly on the specified vehicle side. More...

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

void	SetContactSurfaceType (ContactSurfaceType type)
	Set the type of contact surface (default: TRIANGLE_MESH).

virtual size_t	GetNumTrackShoes () const override
	Get the number of track shoes.

virtual std::shared_ptr< ChTrackShoe >	GetTrackShoe (size_t id) const override
	Get the specified track shoe subsystem.

std::shared_ptr< fea::ChMesh >	GetMesh () const
	Get the FEA mesh which contains all track shoe FEA elements in this assembly.

Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand
	ChTrackAssemblyBand (const std::string &name, VehicleSide side)

virtual std::shared_ptr< ChSprocket >	GetSprocket () const override
	Get a handle to the sprocket.

Public Member Functions inherited from chrono::vehicle::ChTrackAssembly
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.

std::shared_ptr< ChIdler >	GetIdler () const
	Get a handle to the idler subsystem.

std::shared_ptr< ChTrackWheel >	GetIdlerWheel () const
	Get a handle to the idelr wheel subsystem.

std::shared_ptr< ChTrackBrake >	GetBrake () const
	Get a handle to the brake subsystem.

const ChTrackSuspensionList &	GetTrackSuspensions () const
	Get the list of suspension subsystems.

std::shared_ptr< ChTrackSuspension >	GetTrackSuspension (size_t id) const
	Get a handle to the specified suspension subsystem.

std::shared_ptr< ChTrackWheel >	GetRoller (size_t id) const
	Get a handle to the specified roller subsystem.

std::shared_ptr< ChTrackWheel >	GetRoadWheel (size_t id) const
	Get a handle to the specified road wheel subsystem.

const ChVector3d &	GetTrackShoePos (size_t id) const
	Get the global location of the specified track shoe. More...

const ChQuaternion &	GetTrackShoeRot (size_t id) const
	Get the orientation of the specified track shoe. More...

const ChVector3d &	GetTrackShoeLinVel (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.

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.

bool	OutputEnabled () const
	Return the output state for this subsystem.

Protected Member Functions
void	SetRubberLayerMaterial (double rho, const ChVector3d &E, const ChVector3d &nu, const ChVector3d &G)
	Set material properties of the rubber layers (isotropic material). More...

void	SetSteelLayerMaterial (double rho, const ChVector3d &E, const ChVector3d &nu, const ChVector3d &G)
	Set material properties of the steel layer (isotropic material). More...

void	SetElementStructuralDamping (double alpha)
	Set element structural damping (default: 0.05).

void	SetLayerFiberAngles (double angle_1, double angle_2, double angle_3)
	Set fiber angle for the three layers. More...

virtual void	CreateContactMaterial (ChContactMethod contact_method)=0
	Create the contact material for the web mesh, consistent with the specified contact method.

Protected Member Functions inherited from chrono::vehicle::ChTrackAssemblyBand
bool	FindAssemblyPoints (std::shared_ptr< ChBodyAuxRef > chassis, int num_shoes, const std::vector< double > &connection_lengths, std::vector< ChVector2d > &shoe_points)
	Assembly Algorithm Utility Functions.

void	FindCircleTangentPoints (ChVector2d Circle1Pos, double Circle1Rad, ChVector2d Circle2Pos, double Circle2Rad, ChVector2d &Tan1Pnt1, ChVector2d &Tan1Pnt2, ChVector2d &Tan2Pnt1, ChVector2d &Tan2Pnt2)

void	CheckCircleCircle (bool &found, ChVector2d &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2d &StartingPoint, double Radius)

void	CheckCircleLine (bool &found, ChVector2d &Point, ChMatrixDynamic<> &Features, int FeatureIdx, ChVector2d &StartingPoint, double Radius)

Protected Member Functions inherited from chrono::vehicle::ChTrackAssembly
	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 void	ExportComponentList (rapidjson::Document &jsonDocument) const override
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChOutput &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
ChTrackShoeBandANCFList	m_shoes
	track shoes

std::shared_ptr< fea::ChMesh >	m_track_mesh
	web mesh

std::shared_ptr< ChContactMaterial >	m_contact_material
	contact material for the web mesh

ContactSurfaceType	m_contact_type
	type of contact surface model (node cloud or mesh)

Protected Attributes inherited from chrono::vehicle::ChTrackAssemblyBand
std::shared_ptr< ChSprocketBand >	m_sprocket
	sprocket subsystem

double	m_sprocket_offset

Protected Attributes inherited from chrono::vehicle::ChTrackAssembly
VehicleSide	m_side
	assembly on left/right vehicle side

ChVector3d	m_rel_loc
	assembly location relative to chassis

std::shared_ptr< ChIdler >	m_idler
	idler (and tensioner) subsystem

std::shared_ptr< ChTrackBrake >	m_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 or 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	BroadphaseCulling

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

◆ ChTrackAssemblyBandANCF()

chrono::vehicle::ChTrackAssemblyBandANCF::ChTrackAssemblyBandANCF	(	const std::string &	name,
		VehicleSide	side
	)

Construct an ANCFshell-based track assembly on the specified vehicle side.

Parameters

[in]	name	name of the subsystem
[in]	side	assembly on left/right vehicle side

Member Function Documentation

◆ SetLayerFiberAngles()

void chrono::vehicle::ChTrackAssemblyBandANCF::SetLayerFiberAngles	(	double	angle_1,
		double	angle_2,
		double	angle_3
	)

protected

Set fiber angle for the three layers.

Parameters

angle_1	fiber angle for bottom (outer) rubber layer (default: 0 rad)
angle_2	fiber angle for middle steel layer (default: 0 rad)
angle_3	fiber angle for top (inner) rubber layer (default: 0 rad)

◆ SetRubberLayerMaterial()

void chrono::vehicle::ChTrackAssemblyBandANCF::SetRubberLayerMaterial	(	double	rho,
		const ChVector3d &	E,
		const ChVector3d &	nu,
		const ChVector3d &	G
	)

protected

Set material properties of the rubber layers (isotropic material).

Parameters

rho	density (default: 1100)
E	elasticity moduli, E_x, E_y, E_z (default: 1e7)
nu	Poisson ratios, nu_x, nu_y, nu_z (default: 0.49)
G	shear moduli, G_x, Gy, Gz (default: 0.5 * E / (1 + nu))

◆ SetSteelLayerMaterial()

void chrono::vehicle::ChTrackAssemblyBandANCF::SetSteelLayerMaterial	(	double	rho,
		const ChVector3d &	E,
		const ChVector3d &	nu,
		const ChVector3d &	G
	)

protected

Set material properties of the steel layer (isotropic material).

Parameters

rho	density (default: 1100)
E	elasticity moduli, E_x, E_y, E_z (default: 1e7)
nu	Poisson ratios, nu_x, nu_y, nu_z (default: 0.3)
G	shear moduli, G_x, Gy, Gz (default: 0.5 * E / (1 + nu))

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBandANCF.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_assembly/ChTrackAssemblyBandANCF.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackAssemblyBandANCF()

Member Function Documentation

◆ SetLayerFiberAngles()

◆ SetRubberLayerMaterial()

◆ SetSteelLayerMaterial()