chrono::vehicle::m113::M113_TrackAssemblyDoublePin Class Reference
Description
M113 track assembly using double-pin track shoes.
#include <M113_TrackAssemblyDoublePin.h>
Inheritance diagram for chrono::vehicle::m113::M113_TrackAssemblyDoublePin:
Collaboration diagram for chrono::vehicle::m113::M113_TrackAssemblyDoublePin:
Public Member Functions | |
| M113_TrackAssemblyDoublePin (VehicleSide side, DoublePinTrackShoeType topology, BrakeType brake_type, bool use_track_bushings, bool use_suspension_bushings, bool use_track_RSDA) | |
| virtual const ChVector3d | GetSprocketLocation () const override |
| Get the relative location of the sprocket subsystem. More... | |
| virtual const ChVector3d | GetIdlerLocation () const override |
| Get the relative location of the idler subsystem. More... | |
| virtual const ChVector3d | GetRoadWhelAssemblyLocation (int which) const override |
| Get the relative location of the specified suspension subsystem. More... | |
 Public Member Functions inherited from chrono::vehicle::ChTrackAssemblyDoublePin | |
| ChTrackAssemblyDoublePin (const std::string &name, VehicleSide side) | |
| virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template. | |
| virtual size_t | GetNumTrackShoes () const override |
| Get the number of track shoes. | |
| virtual std::shared_ptr< ChSprocket > | GetSprocket () const override |
| Get a handle to the sprocket. | |
| virtual std::shared_ptr< ChTrackShoe > | GetTrackShoe (size_t id) const override |
| Get a handle to the specified track shoe subsystem. | |
| Public Member Functions inherited from chrono::vehicle::ChTrackAssemblySegmented | |
| void | EnableTrackBendingStiffness (bool val) |
| Enable/disable modeling of track bending stiffness. More... | |
| std::shared_ptr< ChLinkRSDA::TorqueFunctor > | GetTorqueFunctor () const |
| Return the functor for calculating the torque that models track bending stiffness. More... | |
| std::shared_ptr< ChVehicleBushingData > | GetBushingData () const |
| Get parameters for modeling bushing in the track shoe connections. More... | |
| 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 | 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. | |
| 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 | 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. | |
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... | |
| Protected Member Functions inherited from chrono::vehicle::ChTrackAssemblySegmented | |
| ChTrackAssemblySegmented (const std::string &name, VehicleSide side) | |
| 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 (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. | |
| 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). | |
| Protected Attributes inherited from chrono::vehicle::ChTrackAssemblyDoublePin | |
| std::shared_ptr< ChSprocketDoublePin > | m_sprocket |
| sprocket subsystem | |
| ChTrackShoeDoublePinList | m_shoes |
| track shoes | |
| Protected Attributes inherited from chrono::vehicle::ChTrackAssemblySegmented | |
| std::shared_ptr< ChLinkRSDA::TorqueFunctor > | m_torque_funct |
| torque for track bending stiffness | |
| std::shared_ptr< ChVehicleBushingData > | m_bushing_data |
| track pin bushings | |
| 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 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 | |
Member Function Documentation
◆ GetIdlerLocation()
|
overridevirtual |
Get the relative location of the idler subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Implements chrono::vehicle::ChTrackAssembly.
◆ GetRoadWhelAssemblyLocation()
|
overridevirtual |
Get the relative location of the specified suspension subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Implements chrono::vehicle::ChTrackAssembly.
◆ GetSprocketLocation()
|
overridevirtual |
Get the relative location of the sprocket subsystem.
The track assembly reference frame is ISO, with origin at the sprocket center.
Implements chrono::vehicle::ChTrackAssembly.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/track_assembly/M113_TrackAssemblyDoublePin.h
- /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/track_assembly/M113_TrackAssemblyDoublePin.cpp
