chrono::vehicle::marder::Marder_TrackAssemblySinglePin Class Reference

Description

Marder track assembly using single-pin track shoes.

#include <Marder_TrackAssemblySinglePin.h>

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

Public Member Functions

 Marder_TrackAssemblySinglePin (VehicleSide side, BrakeType brake_type)
 
virtual const ChVector GetSprocketLocation () const override
 Get the relative location of the sprocket subsystem. More...
 
virtual const ChVector GetIdlerLocation () const override
 Get the relative location of the idler subsystem. More...
 
virtual const ChVector GetRoadWhelAssemblyLocation (int which) const override
 Get the relative location of the specified suspension subsystem. More...
 
virtual const ChVector GetRollerLocation (int which) const override
 Get the relative location of the specified roller subsystem. More...
 
- Public Member Functions inherited from chrono::vehicle::ChTrackAssemblySinglePin
 ChTrackAssemblySinglePin (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< ChSprocketGetSprocket () const override
 Get a handle to the sprocket.
 
virtual std::shared_ptr< ChTrackShoeGetTrackShoe (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::TorqueFunctorGetTorqueFunctor () const
 Return the functor for calculating the torque that models track bending stiffness. More...
 
std::shared_ptr< ChVehicleBushingDataGetBushingData () 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 GetNumRoadWheelAssemblies () const
 Get the number of suspensions.
 
size_t GetNumRollers () const
 Get the number of rollers.
 
std::shared_ptr< ChIdlerGetIdler () const
 Get a handle to the idler subsystem.
 
std::shared_ptr< ChTrackBrakeGetBrake () const
 Get a handle to the brake subsystem.
 
const ChRoadWheelAssemblyListGetRoadWheelAssemblies () const
 Get the list of suspension subsystems.
 
std::shared_ptr< ChRoadWheelAssemblyGetRoadWheelAssembly (size_t id) const
 Get a handle to the specified suspension subsystem.
 
std::shared_ptr< ChRollerGetRoller (size_t id) const
 Get a handle to the specified roller subsystem.
 
std::shared_ptr< ChRoadWheelGetRoadWheel (size_t id) const
 Get a handle to the specified road wheel subsystem.
 
const ChVectorGetTrackShoePos (size_t id) const
 Get the global location of the specified track shoe. More...
 
const ChQuaternionGetTrackShoeRot (size_t id) const
 Get the orientation of the specified track shoe. More...
 
const ChVectorGetTrackShoeLinVel (size_t id) const
 Get the linear velocity of the specified track shoe. More...
 
ChVector GetTrackShoeAngVel (size_t id) const
 Get the angular velocity of the specified track shoe. More...
 
ChVector 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...
 
void Initialize (std::shared_ptr< ChChassis > chassis, const ChVector<> &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).
 
ChRoadWheelAssembly::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 SetRoadWheelAssemblyVisualizationType (VisualizationType vis)
 Set visualization type for the suspension 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, const TerrainForces &shoe_forces)
 Update the state of this track assembly at the current time. More...
 
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.
 
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 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 ChVector<> &moments, const ChVector<> &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 (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...
 
- 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::ChTrackAssemblySinglePin
std::shared_ptr< ChSprocketSinglePinm_sprocket
 sprocket subsystem
 
ChTrackShoeSinglePinList m_shoes
 track shoes
 
- Protected Attributes inherited from chrono::vehicle::ChTrackAssemblySegmented
std::shared_ptr< ChLinkRSDA::TorqueFunctorm_torque_funct
 torque for track bending stiffness
 
std::shared_ptr< ChVehicleBushingDatam_bushing_data
 track pin bushings
 
- Protected Attributes inherited from chrono::vehicle::ChTrackAssembly
VehicleSide m_side
 assembly on left/right vehicle side
 
ChVector m_rel_loc
 assembly location relative to chassis
 
std::shared_ptr< ChIdlerm_idler
 idler (and tensioner) subsystem
 
std::shared_ptr< ChTrackBrakem_brake
 sprocket brake
 
ChRoadWheelAssemblyList m_suspensions
 road-wheel assemblies
 
ChRollerList m_rollers
 roller subsystems
 
bool m_roadwheel_as_cylinder
 
bool m_idler_as_cylinder
 
bool m_roller_as_cylinder
 
- 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 Function Documentation

◆ GetIdlerLocation()

const ChVector chrono::vehicle::marder::Marder_TrackAssemblySinglePin::GetIdlerLocation ( ) const
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()

const ChVector chrono::vehicle::marder::Marder_TrackAssemblySinglePin::GetRoadWhelAssemblyLocation ( int  which) const
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.

◆ GetRollerLocation()

const ChVector chrono::vehicle::marder::Marder_TrackAssemblySinglePin::GetRollerLocation ( int  which) const
overridevirtual

Get the relative location of the specified roller subsystem.

The track assembly reference frame is ISO, with origin at the sprocket center.

Reimplemented from chrono::vehicle::ChTrackAssembly.

◆ GetSprocketLocation()

const ChVector chrono::vehicle::marder::Marder_TrackAssemblySinglePin::GetSprocketLocation ( ) const
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/marder/Marder_TrackAssemblySinglePin.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_TrackAssemblySinglePin.cpp