Description

Idler and tensioner model for the Marder vehicle (base class).

#include <Marder_Idler.h>

Inheritance diagram for chrono::vehicle::marder::Marder_Idler:
Collaboration diagram for chrono::vehicle::marder::Marder_Idler:

Public Member Functions

virtual const ChVector GetLocation (PointId which) override
 Return the location of the specified hardpoint. More...
 
virtual double GetWheelMass () const override
 Return the mass of the idler wheel body.
 
virtual const ChVectorGetWheelInertia () override
 Return the moments of inertia of the idler wheel body.
 
virtual double GetWheelRadius () const override
 Return the radius of the idler wheel.
 
virtual double GetWheelWidth () const override
 Return the total width of the idler wheel.
 
virtual double GetWheelGap () const override
 Return the gap width.
 
virtual double GetCarrierMass () const override
 Return the mass of the carrier body.
 
virtual const ChVectorGetCarrierInertia () override
 Return the moments of inertia of the carrier body.
 
virtual double GetCarrierVisRadius () const override
 Return a visualization radius for the carrier body.
 
virtual double GetPrismaticPitchAngle () const override
 Return the pitch angle of the prismatic joint.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorGetTensionerForceCallback () const override
 Return the functor object for spring force.
 
virtual double GetTensionerFreeLength () const override
 Return the free length for the tensioner spring.
 
- Public Member Functions inherited from chrono::vehicle::ChDoubleIdler
 ChDoubleIdler (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual GuidePinType GetType () const final override
 Return the type of track shoe consistent with this idler.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &location, ChTrackAssembly *track) override
 Initialize this idler subsystem. More...
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChIdler
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
std::shared_ptr< ChLinkTSDAGetTensioner () const
 Get the tensioner force element.
 
void SetCollide (bool val)
 Turn on/off collision flag for the idler wheel.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- 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

 Marder_Idler (const std::string &name)
 
virtual void CreateContactMaterial (ChContactMethod contact_method) override
 Create the contact material consistent with the specified contact method.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the idler subsystem.
 
virtual VehicleSide GetVehicleSide () const =0
 
virtual std::string GetMeshFile () const =0
 
- Protected Member Functions inherited from chrono::vehicle::ChIdler
 ChIdler (const std::string &name)
 Construct an idler subsystem with given name.
 
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 (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

std::shared_ptr< ChLinkTSDA::ForceFunctorm_tensionerForceCB
 
- Protected Attributes inherited from chrono::vehicle::ChIdler
ChVector m_rel_loc
 idler subsystem location relative to chassis
 
std::shared_ptr< ChBodym_wheel
 idler wheel body
 
std::shared_ptr< ChBodym_carrier
 carrier body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 wheel-carrier revolute joint
 
std::shared_ptr< ChLinkLockPrismaticm_prismatic
 carrier-chassis translational joint
 
std::shared_ptr< ChLinkTSDAm_tensioner
 TSDA tensioner element.
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
ChTrackAssemblym_track
 containing track assembly
 
- 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
 

Static Protected Attributes

static const double m_wheel_mass = 25.76
 
static const ChVector m_wheel_inertia
 
static const double m_wheel_radius = 0.334
 
static const double m_wheel_width = 0.181
 
static const double m_wheel_gap = 0.051
 
static const double m_carrier_mass = 10
 
static const ChVector m_carrier_inertia
 
static const double m_carrier_radius = 0.02
 
static const double m_tensioner_l0 = 0.75
 
static const double m_tensioner_k = 2e6
 
static const double m_tensioner_c = Marder_Idler::m_tensioner_k * 0.05
 
static const double m_tensioner_f = 9.81 * 25000.0 / 10.0
 

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...
 
- Protected Types inherited from chrono::vehicle::ChIdler
enum  PointId {
  WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER,
  TSDA_CHASSIS, NUM_POINTS
}
 Identifiers for the various hardpoints. 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).
 

Member Function Documentation

◆ GetLocation()

const ChVector chrono::vehicle::marder::Marder_Idler::GetLocation ( PointId  which)
overridevirtual

Return the location of the specified hardpoint.

The returned location must be expressed in the idler subsystem reference frame.

Implements chrono::vehicle::ChIdler.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Idler.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Idler.cpp