chrono::vehicle::ChTrackedVehicle Class Reference

Description

Base class for chrono tracked vehicle systems.

This class provides the interface between the vehicle system and other systems (terrain, driver, etc.)

#include <ChTrackedVehicle.h>

Inheritance diagram for chrono::vehicle::ChTrackedVehicle:
Collaboration diagram for chrono::vehicle::ChTrackedVehicle:

Public Member Functions

 ChTrackedVehicle (const std::string &name, ChMaterialSurfaceBase::ContactMethod contact_method=ChMaterialSurfaceBase::DVI)
 Construct a vehicle system with a default ChSystem. More...
 
 ChTrackedVehicle (const std::string &name, ChSystem *system)
 Construct a vehicle system using the specified ChSystem. More...
 
virtual ~ChTrackedVehicle ()
 Destructor.
 
const std::string & GetName () const
 Get the name identifier for this vehicle system.
 
void SetName (const std::string &name)
 Set the name identifier for this vehicle system.
 
virtual double GetVehicleMass () const override
 Get the vehicle total mass. More...
 
std::shared_ptr< ChTrackAssemblyGetTrackAssembly (VehicleSide side) const
 Get the specified suspension subsystem.
 
std::shared_ptr< ChTrackDrivelineGetDriveline () const
 Get a handle to the vehicle's driveline subsystem.
 
virtual std::shared_ptr< ChShaftGetDriveshaft () const override
 Get a handle to the vehicle's driveshaft body.
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
size_t GetNumRoadWheelAssemblies (VehicleSide side) const
 Get the number of suspensions in the specified track assembly.
 
size_t GetNumTrackShoes (VehicleSide side) const
 Get the number of shoes in the specified track assembly.
 
std::shared_ptr< ChTrackShoeGetTrackShoe (VehicleSide side, size_t id) const
 Get a handle to the specified track shoe.
 
BodyState GetTrackShoeState (VehicleSide side, size_t shoe_id) const
 Get the complete state for the specified track shoe. More...
 
void GetTrackShoeStates (VehicleSide side, BodyStates &states) const
 Get the complete states for all track shoes of the specified track assembly. More...
 
void SetSprocketVisualizationType (VisualizationType vis)
 Set visualization type for the sprocket subsystem.
 
void SetIdlerVisualizationType (VisualizationType vis)
 
void SetRoadWheelAssemblyVisualizationType (VisualizationType vis)
 Set visualization type for the suspension subsystems.
 
void SetRoadWheelVisualizationType (VisualizationType vis)
 Set visualization type for the road-wheel subsystems.
 
void SetRollerVisualizationType (VisualizationType vis)
 Set visualization type for the roller subsystems.
 
void SetTrackShoeVisualizationType (VisualizationType vis)
 Set visualization type for the track shoe subsystems.
 
void SetSprocketCollide (bool state)
 Enable/disable collision for the sprocket subsystem.
 
void SetIdlerCollide (bool state)
 Enable/disable collision for the idler subsystem.
 
void SetRoadWheelCollide (bool state)
 Enable/disable collision for the road-wheel subsystems.
 
void SetRollerCollide (bool state)
 Enable/disable collision for the roller subsystems.
 
void SetTrackShoeCollide (bool state)
 Enable/disable collision for the track shoe subsystems.
 
void SetCollide (int flags)
 Set collision flags for the various subsystems. More...
 
virtual void SetChassisVehicleCollide (bool state) override
 Enable/disable collision between the chassis and all other vehicle subsystems. More...
 
void MonitorContacts (int flags)
 Set contacts to be monitored. More...
 
void SetContactCollection (bool val)
 Turn on/off contact data collection. More...
 
bool IsPartInContact (TrackedCollisionFlag::Enum part) const
 Return true if the specified vehicle part is currently experiencing a collision.
 
void WriteContacts (const std::string &filename)
 Write contact information to file. More...
 
virtual void Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
 Initialize this vehicle at the specified global location and orientation. More...
 
void Synchronize (double time, double steering, double braking, double powertrain_torque, const TrackShoeForces &shoe_forces_left, const TrackShoeForces &shoe_forces_right)
 Update the state of this vehicle at the current time. More...
 
virtual void Advance (double step) final
 Advance the state of this vehicle by the specified time step.
 
virtual void LogConstraintViolations () override
 Log current constraint violations.
 
- Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual ~ChVehicle ()
 Destructor.
 
ChSystemGetSystem ()
 Get a pointer to the Chrono ChSystem.
 
double GetChTime () const
 Get the current simulation time of the underlying ChSystem.
 
std::shared_ptr< ChChassisGetChassis () const
 Get a handle to the vehicle's chassis subsystem.
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 Get a handle to the vehicle's chassis body.
 
const ChVectorGetVehiclePos () const
 Get the vehicle location. More...
 
const ChQuaternionGetVehicleRot () const
 Get the vehicle orientation. More...
 
double GetVehicleSpeed () const
 Get the vehicle speed. More...
 
double GetVehicleSpeedCOM () const
 Get the speed of the chassis COM. More...
 
ChVector GetVehicleAcceleration (const ChVector<> &locpos) const
 Get the acceleration at the specified point. More...
 
ChVector GetDriverPos () const
 Get the global location of the driver.
 
void SetChassisVisualizationType (VisualizationType vis)
 Set visualization mode for the chassis subsystem.
 
void SetChassisCollide (bool state)
 Enable/disable collision for the chassis usbsystem. More...
 
void SetStepsize (double val)
 Set the integration step size for the vehicle system.
 
double GetStepsize () const
 Get the current value of the integration step size for the vehicle system.
 

Protected Attributes

std::string m_name
 name of the vehicle system
 
std::shared_ptr< ChTrackAssemblym_tracks [2]
 handles to the track assemblies (left/right)
 
std::shared_ptr< ChTrackDrivelinem_driveline
 handle to the driveline subsystem
 
ChTrackContactManagerm_contacts
 manager for internal contacts
 
- Protected Attributes inherited from chrono::vehicle::ChVehicle
ChSystemm_system
 pointer to the Chrono system
 
bool m_ownsSystem
 true if system created at construction
 
std::shared_ptr< ChChassism_chassis
 handle to the chassis subsystem
 
double m_stepsize
 integration step-size for the vehicle system
 

Friends

class ChTrackedVehicleIrrApp
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::vehicle::ChVehicle
 ChVehicle (ChMaterialSurfaceBase::ContactMethod contact_method=ChMaterialSurfaceBase::DVI)
 Construct a vehicle system with a default ChSystem.
 
 ChVehicle (ChSystem *system)
 Construct a vehicle system using the specified ChSystem.
 

Constructor & Destructor Documentation

chrono::vehicle::ChTrackedVehicle::ChTrackedVehicle ( const std::string &  name,
ChMaterialSurfaceBase::ContactMethod  contact_method = ChMaterialSurfaceBase::DVI 
)

Construct a vehicle system with a default ChSystem.

Parameters
[in]namename of the system
contact_methodcontact method
chrono::vehicle::ChTrackedVehicle::ChTrackedVehicle ( const std::string &  name,
ChSystem system 
)

Construct a vehicle system using the specified ChSystem.

Parameters
[in]namename of the system
[in]systemcontaining mechanical system

Member Function Documentation

virtual double chrono::vehicle::ChTrackedVehicle::GetDriveshaftSpeed ( ) const
overridevirtual

Get the angular speed of the driveshaft.

This function provides the interface between a vehicle system and a powertrain system.

Implements chrono::vehicle::ChVehicle.

BodyState chrono::vehicle::ChTrackedVehicle::GetTrackShoeState ( VehicleSide  side,
size_t  shoe_id 
) const

Get the complete state for the specified track shoe.

This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame.

void chrono::vehicle::ChTrackedVehicle::GetTrackShoeStates ( VehicleSide  side,
BodyStates states 
) const

Get the complete states for all track shoes of the specified track assembly.

It is assumed that the vector of body states was properly sized.

double chrono::vehicle::ChTrackedVehicle::GetVehicleMass ( ) const
overridevirtual

Get the vehicle total mass.

This includes the mass of the chassis and all vehicle subsystems.

Implements chrono::vehicle::ChVehicle.

void chrono::vehicle::ChTrackedVehicle::Initialize ( const ChCoordsys<> &  chassisPos,
double  chassisFwdVel = 0 
)
overridevirtual

Initialize this vehicle at the specified global location and orientation.

This base class implementation only initializes the chassis subsystem. Derived classes must extend this function to initialize all other tracked vehicle subsystems (the two track assemblies and the driveline).

Parameters
[in]chassisPosinitial global position and orientation
[in]chassisFwdVelinitial chassis forward velocity

Implements chrono::vehicle::ChVehicle.

Reimplemented in chrono::vehicle::TrackedVehicle.

void chrono::vehicle::ChTrackedVehicle::MonitorContacts ( int  flags)

Set contacts to be monitored.

Contact information will be tracked for the specified subsystems.

void chrono::vehicle::ChTrackedVehicle::SetChassisVehicleCollide ( bool  state)
overridevirtual

Enable/disable collision between the chassis and all other vehicle subsystems.

This only controls collisions between the chassis and the track shoes. All other internal collisions involving the chassis are always ignored.

Reimplemented from chrono::vehicle::ChVehicle.

void chrono::vehicle::ChTrackedVehicle::SetCollide ( int  flags)

Set collision flags for the various subsystems.

By default, collision is enabled for chassis, sprocket, idler, road wheels, and track shoes. To override these default settings, this function must be called called after the call to Initialize(). The 'flags' argument can be any of the TrackedCollisionFlag enums, or a combination thereof (using bit-wise operators).

void chrono::vehicle::ChTrackedVehicle::SetContactCollection ( bool  val)

Turn on/off contact data collection.

If enabled, contact information will be collected for all monitored subsystems.

void chrono::vehicle::ChTrackedVehicle::Synchronize ( double  time,
double  steering,
double  braking,
double  powertrain_torque,
const TrackShoeForces shoe_forces_left,
const TrackShoeForces shoe_forces_right 
)

Update the state of this vehicle at the current time.

The vehicle system is provided the current driver inputs (throttle between 0 and 1, steering between -1 and +1, braking between 0 and 1), the torque from the powertrain, and tire forces (expressed in the global reference frame).

Parameters
[in]timecurrent time
[in]steeringcurrent steering input [-1,+1]
[in]brakingcurrent braking input [0,1]
[in]powertrain_torqueinput torque from powertrain
[in]shoe_forces_leftvector of track shoe forces (left side)
[in]shoe_forces_rightvector of track shoe forces (left side)
void chrono::vehicle::ChTrackedVehicle::WriteContacts ( const std::string &  filename)

Write contact information to file.

If data collection was enabled and at least one subsystem is monitored, contact information is written (in CSV format) to the specified file.