Description

Base class for a double track wheel (template definition).

#include <ChDoubleTrackWheel.h>

Inheritance diagram for chrono::vehicle::ChDoubleTrackWheel:
Collaboration diagram for chrono::vehicle::ChDoubleTrackWheel:

Public Member Functions

 ChDoubleTrackWheel (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual GuidePinType GetType () const final override
 Return the type of track shoe consistent with this track wheel.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChBody > carrier, const ChVector<> &location, ChTrackAssembly *track) override
 Initialize this track wheel subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the track-wheel subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the track-wheel subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackWheel
std::shared_ptr< ChBodyGetBody () const
 Get a handle to the wheel body.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
 
virtual double GetMass () const =0
 Return the mass of the track wheel body.
 
virtual const ChVectorGetInertia ()=0
 Return the moments of inertia of the track wheel body.
 
virtual double GetRadius () const =0
 Get the radius of the track wheel.
 
virtual double GetWidth () const =0
 Return the total width of the track wheel.
 
void SetCollide (bool val)
 Turn on/off collision flag for the track wheel (default: true).
 
void LogConstraintViolations ()
 Log current constraint violations.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPart
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.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Member Functions

virtual double GetGap () const =0
 Return the gap width.
 
- Protected Member Functions inherited from chrono::vehicle::ChTrackWheel
 ChTrackWheel (const std::string &name)
 Construct a road-wheel subsystem with given name.
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual void CreateContactMaterial (ChContactMethod contact_method)=0
 Create the contact material consistent with the specified contact method.
 
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 
void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
 Export the list of bodies to the specified JSON document.
 
void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
 Export the list of shafts to the specified JSON document.
 
void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
 Export the list of joints to the specified JSON document.
 
void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
 Export the list of shaft couples to the specified JSON document.
 
void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
 Export the list of markers to the specified JSON document.
 
void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
 Export the list of translational springs to the specified JSON document.
 
void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
 Export the list of rotational springs to the specified JSON document.
 
void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
 Export the list of body-body loads to the specified JSON document.
 

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...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 
- Protected Attributes inherited from chrono::vehicle::ChTrackWheel
std::shared_ptr< ChBodym_wheel
 track wheel body
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 wheel revolute joint
 
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
 
ChTrackAssemblym_track
 containing track assembly
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Constructor & Destructor Documentation

◆ ChDoubleTrackWheel()

chrono::vehicle::ChDoubleTrackWheel::ChDoubleTrackWheel ( const std::string &  name)
Parameters
[in]namename of the subsystem

Member Function Documentation

◆ Initialize()

void chrono::vehicle::ChDoubleTrackWheel::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChBody carrier,
const ChVector<> &  location,
ChTrackAssembly track 
)
overridevirtual

Initialize this track wheel subsystem.

Parameters
[in]chassisassociated chassis subsystem
[in]carrierthe carrier body
[in]locationlocation relative to the chassis frame
[in]trackcontaining track assembly

Reimplemented from chrono::vehicle::ChTrackWheel.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_wheel/ChDoubleTrackWheel.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_wheel/ChDoubleTrackWheel.cpp