Description

Base class for continuous band track shoes using rigid treads.

Derived classes specify actual template definitions, using different models for the track web.

#include <ChTrackShoeBand.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeBand:
Collaboration diagram for chrono::vehicle::ChTrackShoeBand:

Public Member Functions

 ChTrackShoeBand (const std::string &name)
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
void WriteTreadVisualizationMesh (const std::string &out_dir)
 Write the procedurally-generated tread body visualization mesh to a Wavefront OBJ file.
 
void ExportTreadVisualizationMeshPovray (const std::string &out_dir)
 Export the procedurally-generated tread body visualization mesh as a macro in a PovRay include file.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoe
virtual GuidePinType GetType () const =0
 Return the type of track shoe (guiding pin). More...
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get the shoe body.
 
virtual ChVector3d GetTension () const =0
 Get track tension at this track shoe. More...
 
virtual double GetHeight () const =0
 Return the height of the track shoe.
 
virtual ChVehicleGeometry GetGroundContactGeometry () const
 Return contact geometry and material for interaction with terrain.
 
void EnableCollision (bool val)
 Turn on/off collision flag for the shoe body.
 
void SetIndex (size_t index)
 Set the index of this track shoe within its containing track assembly.
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next, ChTrackAssembly *assembly, ChChassis *chassis, bool ccw)=0
 Connect this track shoe to the specified neighbor. More...
 
- 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
bool IsInitialized () const
 Return flag indicating whether or not the part is fully constructed.
 
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.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

virtual double GetTreadMass () const =0
 Return the mass of the tread body.
 
virtual double GetWebMass () const =0
 Return the mass of the web. More...
 
virtual const ChVector3dGetTreadInertia () const =0
 Return the moments of inertia of the tread body.
 
virtual const ChVector3dGetWebInertia () const =0
 Return the moments of inertia of the web. More...
 
virtual const ChVector3dGetGuideBoxDimensions () const =0
 Return the dimensions of the contact box for the guiding pin. More...
 
virtual double GetGuideBoxOffsetX () const =0
 Return the offset (in X direction) of the guiding pin.
 
virtual ChVector3d GetLateralContactPoint () const override
 Return the location of the guiding pin center, expressed in the shoe reference frame.
 
virtual double GetBeltWidth () const =0
 Return the width of the CB track belt (in the Y direction)
 
virtual double GetToothTipLength () const =0
 Return the length of the flat tip of the tread tooth tip (in the X direction)
 
virtual double GetToothBaseLength () const =0
 Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends.
 
virtual double GetToothWidth () const =0
 Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction)
 
virtual double GetToothHeight () const =0
 Return the height from the base to the tip of the tread tooth profile (in the Z direction)
 
virtual double GetToothArcRadius () const =0
 Return the radius of the tooth profile arc that connects the tooth tip and base lines.
 
virtual double GetWebLength () const =0
 Return the combined length of all of the web sections (in the X direction)
 
virtual double GetWebThickness () const =0
 Return the thickness of the web section (in the Z direction)
 
virtual double GetTreadLength () const =0
 Return the length of the tread below the web area (in the X direction, tread pad for ground contact)
 
virtual double GetTreadThickness () const =0
 Return the thickness of the tread below the web area (tread pad for ground contact)
 
virtual const std::string & GetTreadVisualizationMeshName () const =0
 Specify the name assigned to the procedurally-generated tread body visualization mesh.
 
void AddShoeContact (ChContactMethod contact_method)
 Add contact geometry for the tread body. More...
 
void AddShoeVisualization ()
 Add visualization of the tread body, based on primitives corresponding to the contact shapes. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
 ChTrackShoe (const std::string &name)
 Construct a track shoe subsystem with given name.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
virtual void InitializeInertiaProperties ()=0
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties ()=0
 Update subsystem inertia properties. More...
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector3d &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...
 
void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
 Export the list of bodies to the specified JSON document.
 
void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
 Export the list of shafts to the specified JSON document.
 
void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
 Export the list of joints to the specified JSON document.
 
void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
 Export the list of shaft couples to the specified JSON document.
 
void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
 Export the list of markers to the specified JSON document.
 
void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
 Export the list of translational springs to the specified JSON document.
 
void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
 Export the list of rotational springs to the specified JSON document.
 
void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
 Export the list of body-body loads to the specified JSON document.
 

Static Protected Member Functions

static ChColor GetColor (size_t index)
 Get index-specific color (for visualization)
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
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

ChContactMaterialData m_tooth_matinfo
 data for contact material for teeth (sprocket interaction)
 
ChContactMaterialData m_body_matinfo
 date for contact material for main body (wheel interaction)
 
ChContactMaterialData m_pad_matinfo
 data for contact material for pad (ground interaction)
 
ChContactMaterialData m_guide_matinfo
 date for contact material for guide pin (wheel interaction)
 
- Protected Attributes inherited from chrono::vehicle::ChTrackShoe
size_t m_index
 index of this track shoe within its containing track assembly
 
std::shared_ptr< ChBodym_shoe
 handle to the shoe body
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_initialized
 specifies whether ot not the part is fully constructed
 
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
 

Friends

class ChSprocketBand
 
class SprocketBandContactCB
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 

Constructor & Destructor Documentation

◆ ChTrackShoeBand()

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

Member Function Documentation

◆ AddShoeContact()

void chrono::vehicle::ChTrackShoeBand::AddShoeContact ( ChContactMethod  contact_method)
protected

Add contact geometry for the tread body.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

◆ AddShoeVisualization()

void chrono::vehicle::ChTrackShoeBand::AddShoeVisualization ( )
protected

Add visualization of the tread body, based on primitives corresponding to the contact shapes.

Note that the "primitive" shape for the tread body is a procedurally-generated mesh.

◆ GetGuideBoxDimensions()

virtual const ChVector3d& chrono::vehicle::ChTrackShoeBand::GetGuideBoxDimensions ( ) const
protectedpure virtual

Return the dimensions of the contact box for the guiding pin.

Note that this is for contact with wheels, idler, and ground only. This contact geometry does not affect contact with the sprocket.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandBushing.

◆ GetPitch()

double chrono::vehicle::ChTrackShoeBand::GetPitch ( ) const
overridevirtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implements chrono::vehicle::ChTrackShoe.

◆ GetWebInertia()

virtual const ChVector3d& chrono::vehicle::ChTrackShoeBand::GetWebInertia ( ) const
protectedpure virtual

Return the moments of inertia of the web.

These will be distributed over the specified number of web segments.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandBushing.

◆ GetWebMass()

virtual double chrono::vehicle::ChTrackShoeBand::GetWebMass ( ) const
protectedpure virtual

Return the mass of the web.

This will be equally distributed over the specified number of web segments.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandBushing.

◆ Initialize()

void chrono::vehicle::ChTrackShoeBand::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector3d location,
const ChQuaternion<> &  rotation 
)
overridevirtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). This version initializes the bodies of a CB rigid-link track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

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

Reimplemented from chrono::vehicle::ChTrackShoe.

Reimplemented in chrono::vehicle::ChTrackShoeBandANCF, and chrono::vehicle::ChTrackShoeBandBushing.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeBand.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeBand.cpp