chrono::vehicle::ChTrackDriveline Class Referenceabstract

Description

Base class for a tracked vehicle driveline.

#include <ChTrackDriveline.h>

Inheritance diagram for chrono::vehicle::ChTrackDriveline:
Collaboration diagram for chrono::vehicle::ChTrackDriveline:

Public Member Functions

 ChTrackDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. More...
 
virtual double GetDriveshaftSpeed () const
 Get the angular speed of the driveshaft. More...
 
virtual double GetSprocketTorque (VehicleSide side) const =0
 Get the motor torque to be applied to the specified sprocket.
 
virtual double GetSprocketSpeed (VehicleSide side) const =0
 Get the angular speed of the specified sprocket.
 
virtual void SetGyrationMode (bool mode)
 Turn gyration mode on/off.
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right)=0
 Initialize the driveline subsystem. More...
 
virtual void Synchronize (double steering, double torque)
 Update the driveline subsystem. More...
 
- 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.
 
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.
 

Protected Attributes

bool m_gyration_mode
 flag indicating if in gyration mode (turn in place)
 
std::shared_ptr< ChShaftm_driveshaft
 handle to the shaft connection to the powertrain
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Constructor & Destructor Documentation

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

Member Function Documentation

std::shared_ptr<ChShaft> chrono::vehicle::ChTrackDriveline::GetDriveshaft ( ) const

Get a handle to the driveshaft.

Return a shared pointer to the shaft that connects this driveline to a powertrain system (i.e., right after the transmission box).

virtual double chrono::vehicle::ChTrackDriveline::GetDriveshaftSpeed ( ) const
virtual

Get the angular speed of the driveshaft.

This represents the output from the driveline subsystem that is passed to the powertrain system. The default implementation returns the driveline's driveshaft speed.

Reimplemented in chrono::vehicle::ChSimpleTrackDriveline.

virtual void chrono::vehicle::ChTrackDriveline::Initialize ( std::shared_ptr< ChBody chassis,
std::shared_ptr< ChTrackAssembly track_left,
std::shared_ptr< ChTrackAssembly track_right 
)
pure virtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the sprockets of the two track assembly subsystems.

Parameters
chassishandle to the chassis body
track_lefthandle to the left track assembly
track_righthandle to the right track assembly

Implemented in chrono::vehicle::ChTrackDrivelineBDS, and chrono::vehicle::ChSimpleTrackDriveline.

virtual void chrono::vehicle::ChTrackDriveline::Synchronize ( double  steering,
double  torque 
)
virtual

Update the driveline subsystem.

The motor torque represents the input to the driveline subsystem from the powertrain system. The default implementation applies this torque to the driveline's driveshaft. A derived class must also process the steering input to send appropriate torques to the sprockets of the two track assemblies.

Reimplemented in chrono::vehicle::ChSimpleTrackDriveline.