chrono::vehicle::SimpleTrackDriveline Class Reference

Description

Simple tracked vehicle driveline model template using data from file (JSON format).

#include <SimpleTrackDriveline.h>

Inheritance diagram for chrono::vehicle::SimpleTrackDriveline:
Collaboration diagram for chrono::vehicle::SimpleTrackDriveline:

Public Member Functions

 SimpleTrackDriveline (const std::string &filename)
 
 SimpleTrackDriveline (const rapidjson::Document &d)
 
virtual double GetDifferentialMaxBias () const override
 Return the torque bias ratio for the differential. More...
 
- Public Member Functions inherited from chrono::vehicle::ChSimpleTrackDriveline
 ChSimpleTrackDriveline (const std::string &name)
 
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 GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double steering, double torque) override
 Update 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 void SetGyrationMode (bool mode)
 Turn gyration mode on/off.
 
- 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.
 

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...
 
- 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
 
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
 

Member Function Documentation

virtual double chrono::vehicle::SimpleTrackDriveline::GetDifferentialMaxBias ( ) const
overridevirtual

Return the torque bias ratio for the differential.

This is a simple model of a Torsen limited-slip differential.

Implements chrono::vehicle::ChSimpleTrackDriveline.