Description

Base class for segmented track shoes.

These are track shoes modeled with one or more rigid bodies connected through joints and/or bushings.

#include <ChTrackShoeSegmented.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeSegmented:

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Collaboration diagram for chrono::vehicle::ChTrackShoeSegmented:

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Public Member Functions
std::shared_ptr< ChContactMaterial >	GetSprocketContactMaterial () 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< ChBody >	GetShoeBody () const
	Get the shoe body.

virtual ChVector3d	GetTension () const =0
	Get track tension at this track shoe. More...

virtual double	GetHeight () const =0
	Return the height of the track shoe.

virtual double	GetPitch () const =0
	Return the pitch length of the track shoe. More...

virtual ChVector3d	GetLateralContactPoint () const =0
	Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...

virtual utils::ChBodyGeometry	GetGroundContactGeometry () const
	Return contact geometry and material for interaction with terrain.

void	EnableCollision (bool val)
	Turn on/off collision flag for the shoe body.

void	Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, const ChQuaternion<> &rotation)
	Initialize this track shoe subsystem. More...

void	SetIndex (size_t index)
	Set the index of this track shoe within its containing track assembly.

virtual void	Connect (std::shared_ptr< ChTrackShoe > next, ChTrackAssembly assembly, ChChassis chassis, bool ccw)=0
	Connect this track shoe to the specified neighbor. More...

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.

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.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

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

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
	ChTrackShoeSegmented (const std::string &name)

virtual void	Construct (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, const ChQuaternion<> &rotation) override
	Construct this track shoe subsystem. More...

virtual void	EnableTrackBendingStiffness (bool val)=0
	Activate or deactivate the RSDA elements used to model track bending stiffness.

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the track shoe subsystem.

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the track shoe subsystem.

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.

virtual void	InitializeInertiaProperties ()=0
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties ()=0
	Update subsystem inertia properties. More...

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
utils::ChBodyGeometry	m_geometry
	collection of visualization and collision shapes

ChContactMaterialData	m_shoe_sprk_minfo
	data for 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< ChBody >	m_shoe
	handle to the shoe body

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< 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	ChTrackAssemblySegmented

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).

Member Function Documentation

◆ Construct()

void chrono::vehicle::ChTrackShoeSegmented::Construct	(	std::shared_ptr< ChChassis >	chassis,
		const ChVector3d &	location,
		const ChQuaternion<> &	rotation
	)

overrideprotectedvirtual

Construct this track shoe subsystem.

Parameters

[in]	chassis	chassis body
[in]	location	location relative to the chassis frame
[in]	rotation	orientation relative to the chassis frame

Implements chrono::vehicle::ChTrackShoe.

Reimplemented in chrono::vehicle::ChTrackShoeDoublePin, and chrono::vehicle::ChTrackShoeSinglePin.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeSegmented.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeSegmented.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ Construct()