chrono::vehicle::SprocketSinglePin Class Reference


Tracked vehicle single-pin sprocket model constructed with data from file (JSON format).

#include <SprocketSinglePin.h>

Inheritance diagram for chrono::vehicle::SprocketSinglePin:
Collaboration diagram for chrono::vehicle::SprocketSinglePin:

Public Member Functions

 SprocketSinglePin (const std::string &filename)
 SprocketSinglePin (const rapidjson::Document &d)
virtual int GetNumTeeth () const override
 Get the number of teeth of the gear.
virtual double GetAssemblyRadius () const override
 Get the radius of the gear. More...
virtual double GetGearMass () const override
 Return the mass of the gear body.
virtual const ChVectorGetGearInertia () override
 Return the moments of inertia of the gear body.
virtual double GetAxleInertia () const override
 Return the inertia of the axle shaft.
virtual double GetSeparation () const override
 Return the distance between the two gear profiles.
virtual double GetOuterRadius () const override
 Return the radius of the addendum circle.
virtual double GetArcRadius () const override
 Return the radius of the (concave) tooth circular arc.
virtual double GetArcCentersRadius () const override
 Return the radius of the tooth arc centers.
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization of the sprocket.
- Public Member Functions inherited from chrono::vehicle::ChSprocketSinglePin
 ChSprocketSinglePin (const std::string &name)
virtual std::shared_ptr< geometry::ChLinePathGetProfile () override
 Return the 2D gear profile. More...
virtual ChSystem::CustomCollisionCallbackGetCollisionCallback (ChTrackAssembly *track) override
 Return the custom collision callback object. More...
- Public Member Functions inherited from chrono::vehicle::ChSprocket
 ChSprocket (const std::string &name)
std::shared_ptr< ChBodyGetGearBody () const
 Get a handle to the gear body.
std::shared_ptr< ChShaftGetAxle () const
 Get a handle to the axle shaft.
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
double GetAxleSpeed () const
 Get the angular speed of the axle.
void SetCollide (bool val)
 Turn on/off collision flag for the gear wheel.
virtual double GetMass () const
 Get the mass of the sprocket subsystem.
void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, ChTrackAssembly *track)
 Initialize this sprocket subsystem. More...
void ApplyAxleTorque (double torque)
 Apply the provided motor torque. More...
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the sprocket 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 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.

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::ChSprocket
std::shared_ptr< ChBodym_gear
 handle to the sprocket gear body
std::shared_ptr< ChShaftm_axle
 handle to gear shafts
std::shared_ptr< ChShaftsBodym_axle_to_spindle
 handle to gear-shaft connector
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to sprocket revolute joint
 custom collision functor object
- 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::SprocketSinglePin::GetAssemblyRadius ( ) const

Get the radius of the gear.

This quantity is used during the automatic track assembly.

Implements chrono::vehicle::ChSprocket.