Description

Base class for a continuous band track shoe using an ANCFshell-based web.

(template definition)

#include <ChTrackShoeBandANCF.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeBandANCF:
Collaboration diagram for chrono::vehicle::ChTrackShoeBandANCF:

Public Types

enum  ElementType { ElementType::ANCF_4, ElementType::ANCF_8 }
 

Public Member Functions

 ChTrackShoeBandANCF (const std::string &name, ElementType element_type=ElementType::ANCF_4)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual ChVector GetTension () const override
 Get track tension at this track shoe. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the track shoe subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoeBand
 ChTrackShoeBand (const std::string &name)
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
void WriteTreadVisualizationMesh (const std::string &out_dir)
 Write the procedurally-generated tread body visualization mesh to a Wavefront OBJ file.
 
void ExportTreadVisualizationMeshPovray (const std::string &out_dir)
 Export the procedurally-generated tread body visualization mesh as a macro in a PovRay include file.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoe
virtual GuidePinType GetType () const =0
 Return the type of track shoe (guiding pin). More...
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get the shoe body.
 
virtual double GetHeight () const =0
 Return the height of the track shoe.
 
void SetCollide (bool val)
 Turn on/off collision flag for the shoe body.
 
void SetIndex (size_t index)
 Set the index of this track shoe within its containing track assembly.
 
- 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.
 
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 SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Member Functions

virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual int GetNumElementsLength () const =0
 Get the number of shell elements across the web length (from tread body to tread body).
 
virtual int GetNumElementsWidth () const =0
 Get the number of shell elements across the web width (side to side).
 
virtual double GetSteelLayerThickness () const =0
 Get thickness of the inner steel layer. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoeBand
virtual double GetTreadMass () const =0
 Return the mass of the tread body.
 
virtual double GetWebMass () const =0
 Return the mass of the web. More...
 
virtual const ChVectorGetTreadInertia () const =0
 Return the moments of inertia of the tread body.
 
virtual const ChVectorGetWebInertia () const =0
 Return the moments of inertia of the web. More...
 
virtual const ChVectorGetGuideBoxDimensions () const =0
 Return the dimensions of the contact box for the guiding pin. More...
 
virtual double GetGuideBoxOffsetX () const =0
 Return the offset (in X direction) of the guiding pin.
 
virtual ChVector GetLateralContactPoint () const override
 Return the location of the guiding pin center, expressed in the shoe reference frame.
 
virtual double GetBeltWidth () const =0
 Return the width of the CB track belt (in the Y direction)
 
virtual double GetToothTipLength () const =0
 Return the length of the flat tip of the tread tooth tip (in the X direction)
 
virtual double GetToothBaseLength () const =0
 Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends.
 
virtual double GetToothWidth () const =0
 Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction)
 
virtual double GetToothHeight () const =0
 Return the height from the base to the tip of the tread tooth profile (in the Z direction)
 
virtual double GetToothArcRadius () const =0
 Return the radius of the tooth profile arc that connects the tooth tip and base lines.
 
virtual double GetWebLength () const =0
 Return the combined length of all of the web sections (in the X direction)
 
virtual double GetWebThickness () const =0
 Return the thickness of the web section (in the Z direction)
 
virtual double GetTreadLength () const =0
 Return the length of the tread below the web area (in the X direction, tread pad for ground contact)
 
virtual double GetTreadThickness () const =0
 Return the thickness of the tread below the web area (tread pad for ground contact)
 
virtual const std::string & GetTreadVisualizationMeshName () const =0
 Specify the name assigned to the procedurally-generated tread body visualization mesh.
 
virtual void CreateContactMaterials (ChContactMethod contact_method)=0
 Create the contact materials. More...
 
void AddShoeContact ()
 Add contact geometry for the tread body. More...
 
void AddShoeVisualization ()
 Add visualization of the tread body, based on primitives corresponding to the contact shapes. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
 ChTrackShoe (const std::string &name)
 Construct a track shoe subsystem with given name.
 
- 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...
 

Friends

class ChTrackAssemblyBandANCF
 

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::ChTrackShoeBand
static ChColor GetColor (size_t index)
 Get index-specific color (for visualization)
 
- 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).
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoeBand
std::shared_ptr< ChMaterialSurfacem_tooth_material
 contact material for teeth (sprocket interaction)
 
std::shared_ptr< ChMaterialSurfacem_body_material
 contact material for main body (wheel interaction)
 
std::shared_ptr< ChMaterialSurfacem_pad_material
 contact material for pad (ground interaction)
 
std::shared_ptr< ChMaterialSurfacem_guide_material
 contact material for guide pin (wheel interaction)
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoe
size_t m_index
 index of this track shoe within its containing track assembly
 
std::shared_ptr< ChBodym_shoe
 handle to the shoe body
 
- 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< 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
 

Member Enumeration Documentation

◆ ElementType

Enumerator
ANCF_4 

4-node ANCF shell element

ANCF_8 

8-node ANCF shell element

Constructor & Destructor Documentation

◆ ChTrackShoeBandANCF()

chrono::vehicle::ChTrackShoeBandANCF::ChTrackShoeBandANCF ( const std::string &  name,
ElementType  element_type = ElementType::ANCF_4 
)
Parameters
[in]namename of the subsystem
[in]element_typeANCF shell element type

Member Function Documentation

◆ GetSteelLayerThickness()

virtual double chrono::vehicle::ChTrackShoeBandANCF::GetSteelLayerThickness ( ) const
protectedpure virtual

Get thickness of the inner steel layer.

The rubber layer thicknesses are obtained from the total web thickness.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandANCF.

◆ GetTension()

ChVector chrono::vehicle::ChTrackShoeBandANCF::GetTension ( ) const
overridevirtual

Get track tension at this track shoe.

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

Implements chrono::vehicle::ChTrackShoe.

◆ Initialize()

void chrono::vehicle::ChTrackShoeBandANCF::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location,
const ChQuaternion<> &  rotation 
)
overridevirtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). This version initializes the bodies of a CB rigid-link track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

The node numbering is in ccw fashion as in the following scheme: v ^ D o--—G--—o C | | | –H--—+--—F-> u | | | A o--—E--—o B

Parameters
[in]chassischassis body
[in]locationlocation relative to the chassis frame
[in]rotationorientation relative to the chassis frame

Reimplemented from chrono::vehicle::ChTrackShoeBand.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackShoeBandANCF::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.

◆ UpdateInertiaProperties()

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