Description

Base class for a double-pin track shoe (template definition).

#include <ChTrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeDoublePin:
Collaboration diagram for chrono::vehicle::ChTrackShoeDoublePin:

Public Member Functions

 ChTrackShoeDoublePin (const std::string &name, DoublePinTrackShoeType topology)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
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::ChTrackShoeSegmented
std::shared_ptr< ChMaterialSurfaceGetSprocketContactMaterial () const
 Get the contact material for the track shoe part interacting with the sprocket.
 
- 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.
 
virtual ChVector GetLateralContactPoint () const =0
 Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...
 
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 double GetShoeMass () const =0
 Return the mass of the shoe body.
 
virtual const ChVectorGetShoeInertia () const =0
 Return the moments of inertia of the shoe body.
 
virtual double GetShoeLength () const =0
 Return shoe length (distance between pins).
 
virtual double GetShoeWidth () const =0
 Return shoe width (separation between connectors).
 
virtual double GetConnectorMass () const =0
 Return the mass of a connector body.
 
virtual const ChVectorGetConnectorInertia () const =0
 Return the moments of inertia of a connector body.
 
virtual double GetConnectorLength () const =0
 Return the length of a connector body (distance between pins).
 
virtual double GetConnectorWidth () const =0
 Return the width of a connector body (for visualization only).
 
virtual double GetConnectorRadius () const =0
 Return the radius of a connector body.
 
void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector<> &loc_connector_L, const ChVector<> &loc_connector_R, const ChQuaternion<> &rot_connector)
 Initialize this two-connector double-pin track shoe system. More...
 
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::ChTrackShoeSegmented
 ChTrackShoeSegmented (const std::string &name)
 
virtual void CreateContactMaterials (ChContactMethod contact_method)=0
 Create the contact materials for the shoe, consistent with the specified contact method. 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...
 

Protected Attributes

DoublePinTrackShoeType m_topology
 topology of the track shoe (one or two connectors)
 
std::shared_ptr< ChBodym_connector_L
 left connector body
 
std::shared_ptr< ChBodym_connector_R
 right connector body
 
std::shared_ptr< ChVehicleJointm_joint_L
 shoe - left connector joint
 
std::shared_ptr< ChVehicleJointm_joint_R
 shoe - right connector joint
 
std::shared_ptr< ChLinkRSDAm_rsda_L
 optional RSDA on left revolute
 
std::shared_ptr< ChLinkRSDAm_rsda_R
 optional RSDA on right revolute
 
std::shared_ptr< ChVehicleJointm_connection_joint_L
 connection to neighboring track shoe
 
std::shared_ptr< ChVehicleJointm_connection_joint_R
 connection to neighboring track shoe
 
std::shared_ptr< ChLinkRSDAm_connection_rsda_L
 optional RSDA on connection
 
std::shared_ptr< ChLinkRSDAm_connection_rsda_R
 optional RSDA on connection
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoeSegmented
ChVehicleGeometry m_geometry
 collection of visualization and collision shapes
 
std::shared_ptr< ChMaterialSurfacem_shoe_sprk_material
 contact material for shoe shape contacting sprocket
 
- 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
 

Friends

class ChSprocketDoublePin
 
class SprocketDoublePinContactCB
 
class ChTrackAssemblyDoublePin
 

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).
 

Constructor & Destructor Documentation

◆ ChTrackShoeDoublePin()

chrono::vehicle::ChTrackShoeDoublePin::ChTrackShoeDoublePin ( const std::string &  name,
DoublePinTrackShoeType  topology 
)
Parameters
[in]namename of the subsystem
[in]topologytopology of the mechanism

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeDoublePin::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.

◆ GetPitch()

double chrono::vehicle::ChTrackShoeDoublePin::GetPitch ( ) const
overridevirtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implements chrono::vehicle::ChTrackShoe.

◆ GetTension()

ChVector chrono::vehicle::ChTrackShoeDoublePin::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. For a double-pin track shoe, this function returns the force between the track shoe body and connector(s).

Implements chrono::vehicle::ChTrackShoe.

◆ Initialize() [1/2]

void chrono::vehicle::ChTrackShoeDoublePin::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  loc_shoe,
const ChQuaternion<> &  rot_shoe,
const ChVector<> &  loc_connector_L,
const ChVector<> &  loc_connector_R,
const ChQuaternion<> &  rot_connector 
)
protected

Initialize this two-connector double-pin track shoe system.

For a one-connector double-pin, the location of the connector body is assumed to be at the midpoint between the provided left and right locations.

Parameters
[in]chassischassis body
[in]loc_shoelocation of shoe body
[in]rot_shoeorientation of shoe body
[in]loc_connector_Llocation of left connector body
[in]loc_connector_Rlocation of right connector body
[in]rot_connectororientation of connector bodies

◆ Initialize() [2/2]

void chrono::vehicle::ChTrackShoeDoublePin::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 double-pin track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

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

Implements chrono::vehicle::ChTrackShoe.

◆ InitializeInertiaProperties()

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