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.
 
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 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
 
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
 

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...
 

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.