chrono::vehicle::ChTrackDrivelineBDS Class Referenceabstract

Description

Track driveline model template based on ChShaft objects.

#include <ChTrackDrivelineBDS.h>

Inheritance diagram for chrono::vehicle::ChTrackDrivelineBDS:
Collaboration diagram for chrono::vehicle::ChTrackDrivelineBDS:

Public Member Functions

 ChTrackDrivelineBDS (const std::string &name)
 
void SetMotorBlockDirection (const ChVector<> &dir)
 Set the direction of the motor block. More...
 
void SetAxleDirection (const ChVector<> &dir)
 Set the direction of the wheel axles. More...
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right) override
 Initialize the driveline subsystem. More...
 
virtual double GetSprocketTorque (VehicleSide side) const override
 Get the motor torque to be applied to the specified sprocket.
 
virtual double GetSprocketSpeed (VehicleSide side) const override
 Get the angular speed of the specified sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackDriveline
 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 void SetGyrationMode (bool mode)
 Turn gyration mode on/off.
 
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 Member Functions

virtual double GetDriveshaftInertia () const =0
 Return the inertia of the driveshaft.
 
virtual double GetDifferentialBoxInertia () const =0
 Return the inertia of the differential box.
 
virtual double GetConicalGearRatio () const =0
 Return the gear ratio for the conical gear.
 
virtual double GetDifferentialRatio () const =0
 Return the gear ratio for the differential.
 

Additional Inherited Members

- Protected Attributes inherited from chrono::vehicle::ChTrackDriveline
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::ChTrackDrivelineBDS::ChTrackDrivelineBDS ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

void chrono::vehicle::ChTrackDrivelineBDS::Initialize ( std::shared_ptr< ChBody chassis,
std::shared_ptr< ChTrackAssembly track_left,
std::shared_ptr< ChTrackAssembly track_right 
)
overridevirtual

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

Implements chrono::vehicle::ChTrackDriveline.

void chrono::vehicle::ChTrackDrivelineBDS::SetAxleDirection ( const ChVector<> &  dir)

Set the direction of the wheel axles.

This direction is a unit vector, relative to the chassis frame. It must be specified for the design configuration (for the ISO vehicle coordinate system, this is typically [0, 1, 0]).

void chrono::vehicle::ChTrackDrivelineBDS::SetMotorBlockDirection ( const ChVector<> &  dir)

Set the direction of the motor block.

This direction is a unit vector, relative to the chassis frame (for the ISO coordinate system, this is [1, 0, 0] for a longitudinal engine and [0, 1, 0] for a transversal engine).