Description

Base class for a track shoe.

#include <ChTrackShoe.h>

Inheritance diagram for chrono::vehicle::ChTrackShoe:

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Collaboration diagram for chrono::vehicle::ChTrackShoe:

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Public Member Functions
virtual GuidePinType	GetType () const =0
	Return the type of track shoe (guiding pin). More...

size_t	GetIndex () const
	Get the index of this track shoe within its containing track assembly.

std::shared_ptr< ChBody >	GetShoeBody () const
	Get the shoe body.

virtual ChVector3d	GetTension () const =0
	Get track tension at this track shoe. More...

virtual double	GetHeight () const =0
	Return the height of the track shoe.

virtual double	GetPitch () const =0
	Return the pitch length of the track shoe. More...

virtual ChVector3d	GetLateralContactPoint () const =0
	Return the location for lateral contact with the sprocket, expressed in the shoe reference frame. More...

virtual utils::ChBodyGeometry	GetGroundContactGeometry () const
	Return contact geometry and material for interaction with terrain.

void	EnableCollision (bool val)
	Turn on/off collision flag for the shoe body.

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector3d &location, const ChQuaternion<> &rotation)
	Initialize this track shoe subsystem. More...

void	SetIndex (size_t index)
	Set the index of this track shoe within its containing track assembly.

virtual void	Connect (std::shared_ptr< ChTrackShoe > next, ChTrackAssembly assembly, ChChassis chassis, bool ccw)=0
	Connect this track shoe to the specified neighbor. 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.

virtual std::string	GetTemplateName () const =0
	Get the name of the vehicle subsystem template.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

double	GetMass () const
	Get the subsystem mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () 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	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from this subsystem.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
	ChTrackShoe (const std::string &name)
	Construct a track shoe subsystem with given name.

Protected Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name.

virtual void	InitializeInertiaProperties ()=0
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties ()=0
	Update subsystem inertia properties. More...

void	AddMass (double &mass)
	Add this subsystem's mass. More...

void	AddInertiaProperties (ChVector3d &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.

Protected Attributes
size_t	m_index
	index of this track shoe within its containing track assembly

std::shared_ptr< ChBody >	m_shoe
	handle to the shoe body

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether ot not the part is fully constructed

bool	m_output
	specifies whether or not output is generated for this subsystem

std::shared_ptr< ChPart >	m_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

Friends
class	ChTrackAssembly

Additional Inherited Members
Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &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).

Member Function Documentation

◆ Connect()

virtual void chrono::vehicle::ChTrackShoe::Connect	(	std::shared_ptr< ChTrackShoe >	next,
		ChTrackAssembly *	assembly,
		ChChassis *	chassis,
		bool	ccw
	)

pure virtual

Connect this track shoe to the specified neighbor.

This function must be called only after all track shoes have been initialized.

Parameters

[in]	next	handle to the neighbor track shoe
[in]	assembly	containing track assembly
[in]	chassis	associated chassis
[in]	ccw	track assembled in counter clockwise direction

◆ GetLateralContactPoint()

virtual ChVector3d chrono::vehicle::ChTrackShoe::GetLateralContactPoint ( ) const

pure virtual

Return the location for lateral contact with the sprocket, expressed in the shoe reference frame.

This point, which must be in the median plane of the track shoe, is used to enforce lateral contact with the sprocket as a detracking prevention mechanism. For track shoes with a central guiding pin, this can be the center of the guiding pin collision shape.

Implemented in chrono::vehicle::ChTrackShoeBand, chrono::vehicle::TrackShoeDoublePin, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::TrackShoeSinglePin, and chrono::vehicle::m113::M113_TrackShoeDoublePin.

◆ GetPitch()

virtual double chrono::vehicle::ChTrackShoe::GetPitch ( ) const

pure virtual

Return the pitch length of the track shoe.

This quantity must agree with the pitch of the sprocket gear.

Implemented in chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::ChTrackShoeBand, chrono::vehicle::ChTrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

◆ GetTension()

virtual ChVector3d chrono::vehicle::ChTrackShoe::GetTension ( ) const

pure virtual

Get track tension at this track shoe.

Return is the force due to the connections of this track shoe, expressed in the track shoe reference frame.

Implemented in chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeSinglePin, and chrono::vehicle::ChTrackShoeBandBushing.

◆ GetType()

virtual GuidePinType chrono::vehicle::ChTrackShoe::GetType ( ) const

pure virtual

Return the type of track shoe (guiding pin).

A derived class must specify the type of track shoe (which must be consistent with the idler and road wheels in the containing track assembly.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, chrono::vehicle::m113::M113_TrackShoeBandBushing, chrono::vehicle::m113::M113_TrackShoeDoublePin, chrono::vehicle::m113::M113_TrackShoeSinglePin, chrono::vehicle::marder::Marder_TrackShoeSinglePin, chrono::vehicle::TrackShoeBandANCF, chrono::vehicle::TrackShoeBandBushing, chrono::vehicle::TrackShoeDoublePin, and chrono::vehicle::TrackShoeSinglePin.

◆ Initialize()

void chrono::vehicle::ChTrackShoe::Initialize	(	std::shared_ptr< ChBodyAuxRef >	chassis,
		const ChVector3d &	location,
		const ChQuaternion<> &	rotation
	)

virtual

Initialize this track shoe subsystem.

The track shoe is created within the specified system and initialized at the specified location and orientation (expressed in the global frame). All actual work is deferred to derived classes (subsystem templates) which must create the bodies, joints, etc. In addition, a derived class must set the track shoe body's tag to TrackedVehicleBodyTag::SHOES.

Parameters

[in]	chassis	handle to the chassis body
[in]	location	location relative to the chassis frame
[in]	rotation	orientation relative to the chassis frame

Reimplemented in chrono::vehicle::ChTrackShoeBandANCF, chrono::vehicle::ChTrackShoeDoublePin, chrono::vehicle::ChTrackShoeSinglePin, chrono::vehicle::ChTrackShoeBand, chrono::vehicle::ChTrackShoeBandBushing, and chrono::vehicle::ChTrackShoeSegmented.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackShoe.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackShoe.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ Connect()

◆ GetLateralContactPoint()

◆ GetPitch()

◆ GetTension()

◆ GetType()

◆ Initialize()