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.
 

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
 

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.