chrono::vehicle::SingleIdler Class Reference

Description

Single idler model constructed with data from file (JSON format).

#include <SingleIdler.h>

Inheritance diagram for chrono::vehicle::SingleIdler:
Collaboration diagram for chrono::vehicle::SingleIdler:

Public Member Functions

 SingleIdler (const std::string &filename)
 
 SingleIdler (const rapidjson::Document &d)
 
virtual double GetWheelRadius () const override
 Get the radius of the idler wheel.
 
virtual double GetWheelWidth () const override
 Return the width of the idler wheel.
 
virtual double GetWheelMass () const override
 Return the mass of the idler wheel body.
 
virtual const ChVectorGetWheelInertia () override
 Return the moments of inertia of the idler wheel body.
 
virtual double GetCarrierMass () const override
 Return the mass of the carrier body.
 
virtual const ChVectorGetCarrierInertia () override
 Return the moments of inertia of the carrier body.
 
virtual double GetCarrierVisRadius () const override
 Return a visualization radius for the carrier body.
 
virtual double GetPrismaticPitchAngle () const override
 Return the pitch angle of the prismatic joint.
 
virtual
ChLinkSpringCB::ForceFunctor
GetTensionerForceCallback () const override
 Return the functor object for spring force.
 
virtual double GetTensionerFreeLength () const override
 Return the free length for the tensioner spring.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChSingleIdler
 ChSingleIdler (const std::string &name)
 
virtual GuidePinType GetType () const finaloverride
 Return the type of track shoe consistent with this idler.
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location) override
 Initialize this idler subsystem. More...
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the idler subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChIdler
 ChIdler (const std::string &name)
 
std::shared_ptr< ChBodyGetWheelBody () const
 Get a handle to the road wheel body.
 
std::shared_ptr
< ChLinkLockRevolute
GetRevolute () const
 Get a handle to the revolute joint.
 
void SetCollide (bool val)
 Turn on/off collision flag for the idler wheel.
 
virtual double GetMass () const
 Get the mass of the idler subsystem.
 
void LogConstraintViolations ()
 Log current constraint violations.
 
- 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.
 
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 Types inherited from chrono::vehicle::ChIdler
enum  PointId {
  WHEEL, CARRIER, CARRIER_CHASSIS, TSDA_CARRIER,
  TSDA_CHASSIS, NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
- Protected Attributes inherited from chrono::vehicle::ChIdler
std::shared_ptr< ChBodym_wheel
 handle to the idler wheel body
 
std::shared_ptr< ChBodym_carrier
 handle to the carrier body
 
std::shared_ptr
< ChLinkLockRevolute
m_revolute
 handle to wheel-carrier revolute joint
 
std::shared_ptr
< ChLinkLockPrismatic
m_prismatic
 handle to carrier-chassis translational joint
 
std::shared_ptr< ChLinkSpringCBm_tensioner
 handle to the TSDA tensioner element
 
- 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