chrono::vehicle::ChSingleIdler Class Referenceabstract

Description

Base class for a single idler (template definition).

#include <ChSingleIdler.h>

Inheritance diagram for chrono::vehicle::ChSingleIdler:
Collaboration diagram for chrono::vehicle::ChSingleIdler:

Public Member Functions

 ChSingleIdler (const std::string &name)
 
virtual GuidePinType GetType () const finaloverride
 Return the type of track shoe consistent with this idler.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override
 Initialize this idler subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the idler subsystem.
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChIdler
 ChIdler (const std::string &name)
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr
< ChLinkLockRevolute
GetRevolute () const
 Get a handle to the revolute joint.
 
virtual double GetWheelRadius () const =0
 Get the radius of the idler wheel.
 
void SetCollide (bool val)
 Turn on/off collision flag for the idler wheel.
 
virtual double GetMass () const
 Get the mass of the idler subsystem.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
const std::string & GetName () const
 Get the name identifier for this track shoe subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this track shoe subsystem.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
 
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
 
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
 
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
 
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
 
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
 
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
 
float GetKn () const
 Get normal stiffness coefficient for contact material.
 
float GetKt () const
 Get tangential stiffness coefficient for contact material.
 
float GetGn () const
 Get normal viscous damping coefficient for contact material.
 
float GetGt () const
 Get tangential viscous damping coefficient for contact material.
 

Protected Member Functions

virtual double GetWheelWidth () const =0
 Return the width of the idler wheel.
 
- Protected Member Functions inherited from chrono::vehicle::ChIdler
virtual const ChVector GetLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual double GetWheelMass () const =0
 Return the mass of the idler wheel body.
 
virtual const ChVectorGetWheelInertia ()=0
 Return the moments of inertia of the idler wheel body.
 
virtual double GetCarrierMass () const =0
 Return the mass of the carrier body.
 
virtual const ChVectorGetCarrierInertia ()=0
 Return the moments of inertia of the carrier body.
 
virtual double GetCarrierVisRadius () const =0
 Return a visualization radius for the carrier body.
 
virtual double GetPrismaticPitchAngle () const =0
 Return the pitch angle of the prismatic joint.
 
virtual ChSpringForceCallbackGetTensionerForceCallback () const =0
 Return the callback function for spring force.
 
virtual double GetTensionerFreeLength () const =0
 Return the free length for the tensioner spring.
 

Additional Inherited Members

- 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...
 
- Protected Attributes inherited from chrono::vehicle::ChIdler
std::shared_ptr< ChBodym_wheel
 handle to the idler wheel body
 
std::shared_ptr< ChBodym_carrier
 handle to the carrier body
 
std::shared_ptr
< ChLinkLockRevolute
m_revolute
 handle to wheel-carrier revolute joint
 
std::shared_ptr
< ChLinkLockPrismatic
m_prismatic
 handle to carrier-chassis translational joint
 
std::shared_ptr< ChLinkSpringCBm_tensioner
 handle to the TSDA tensioner element
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 
float m_friction
 contact coefficient of friction
 
float m_restitution
 contact coefficient of restitution
 
float m_young_modulus
 contact material Young modulus
 
float m_poisson_ratio
 contact material Poisson ratio
 
float m_kn
 normal contact stiffness
 
float m_gn
 normal contact damping
 
float m_kt
 tangential contact stiffness
 
float m_gt
 tangential contact damping
 

Constructor & Destructor Documentation

chrono::vehicle::ChSingleIdler::ChSingleIdler ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

void chrono::vehicle::ChSingleIdler::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location 
)
overridevirtual

Initialize this idler subsystem.

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame

Reimplemented from chrono::vehicle::ChIdler.