Description

Base class for a double-pin track shoe (template definition).

#include <ChTrackShoeDoublePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeDoublePin:
Collaboration diagram for chrono::vehicle::ChTrackShoeDoublePin:

Public Member Functions

 ChTrackShoeDoublePin (const std::string &name)
 
virtual double GetMass () const override
 Get the mass of the track shoe.
 
virtual double GetPitch () const override
 Return the pitch length of the track shoe. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, const ChQuaternion<> &rotation) override
 Initialize this track shoe subsystem. More...
 
void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &loc_shoe, const ChQuaternion<> &rot_shoe, const ChVector<> &loc_connector_L, const ChVector<> &loc_connector_R, const ChQuaternion<> &rot_connector)
 Initialize this track shoe system. More...
 
virtual void Connect (std::shared_ptr< ChTrackShoe > next) override
 Connect this track shoe to the specified neighbor. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the track shoe subsystem.
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the track shoe subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackShoe
 ChTrackShoe (const std::string &name)
 
virtual GuidePinType GetType () const =0
 Return the type of track shoe (guiding pin). More...
 
std::shared_ptr< ChBodyGetShoeBody () const
 Get a handle to the shoe body.
 
virtual double GetHeight () const =0
 Return the height of the track shoe.
 
size_t GetIndex () const
 Get the index of this track shoe within its containing track assembly.
 
void SetCollide (bool val)
 Turn on/off collision flag for the shoe body.
 
- 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 subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this 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 GetShoeMass () const =0
 Return the mass of the shoe body.
 
virtual const ChVectorGetShoeInertia () const =0
 Return the moments of inertia of the shoe body.
 
virtual double GetShoeLength () const =0
 Return shoe length (distance between pins).
 
virtual double GetShoeWidth () const =0
 Return shoe width (separation between connectors).
 
virtual double GetConnectorMass () const =0
 Return the mass of a connector body.
 
virtual const ChVectorGetConnectorInertia () const =0
 Return the moments of inertia of a connector body.
 
virtual double GetConnectorLength () const =0
 Return the length of a connector body (distance between pins).
 
virtual double GetConnectorWidth () const =0
 Return the width of a connector body (for visualization only).
 
virtual double GetConnectorRadius () const =0
 Return the radius of a connector body.
 
virtual const ChVectorGetPadBoxDimensions () const =0
 Return dimensions and locations of the contact boxes for the shoe and guiding pin. More...
 
virtual const ChVectorGetPadBoxLocation () const =0
 
virtual const ChVectorGetGuideBoxDimensions () const =0
 
virtual const ChVectorGetGuideBoxLocation () const =0
 
virtual void AddShoeContact ()
 Add contact geometry for the track shoe. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
void SetIndex (size_t index)
 Set the index of this track shoe within its containing track assembly.
 

Protected Attributes

std::shared_ptr< ChBodym_connector_L
 handle to left connector body
 
std::shared_ptr< ChBodym_connector_R
 handle to right connector body
 
- 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
 
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
 

Friends

class ChSprocketDoublePin
 
class SprocketDoublePinContactCB
 
class ChTrackAssemblyDoublePin
 

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

Member Function Documentation

void chrono::vehicle::ChTrackShoeDoublePin::AddShoeContact ( )
protectedvirtual

Add contact geometry for the track shoe.

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

void chrono::vehicle::ChTrackShoeDoublePin::Connect ( std::shared_ptr< ChTrackShoe next)
overridevirtual

Connect this track shoe to the specified neighbor.

This function must be called only after both track shoes have been initialized.

Parameters
[in]nexthandle to the neighbor track shoe

Implements chrono::vehicle::ChTrackShoe.

virtual const ChVector& chrono::vehicle::ChTrackShoeDoublePin::GetPadBoxDimensions ( ) const
protectedpure virtual

Return dimensions and locations of the contact boxes for the shoe and 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_TrackShoeDoublePin, and chrono::vehicle::TrackShoeDoublePin.

double chrono::vehicle::ChTrackShoeDoublePin::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.

void chrono::vehicle::ChTrackShoeDoublePin::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  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 double-pin 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

Implements chrono::vehicle::ChTrackShoe.

void chrono::vehicle::ChTrackShoeDoublePin::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  loc_shoe,
const ChQuaternion<> &  rot_shoe,
const ChVector<> &  loc_connector_L,
const ChVector<> &  loc_connector_R,
const ChQuaternion<> &  rot_connector 
)

Initialize this track shoe system.

This version specifies the locations and orientations of the shoe body and of the connector bodies (relative to the chassis frame).

Parameters
[in]chassishandle to chassis body
[in]loc_shoelocation of shoe body
[in]rot_shoeorientation of shoe body
[in]loc_connector_Llocation of left connector body
[in]loc_connector_Rlocation of right connector body
[in]rot_connectororientation of connector bodies