Description

Base class for a continuous band track shoe using an ANCFshell-based web.

(template definition)

#include <ChTrackShoeBandANCF.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeBandANCF:

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Collaboration diagram for chrono::vehicle::ChTrackShoeBandANCF:

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Public Types
enum	ElementType { ElementType::ANCF_4, ElementType::ANCF_8 }

Public Member Functions
	ChTrackShoeBandANCF (const std::string &name, ElementType element_type=ElementType::ANCF_4, bool constrain_curvature=false)

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

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

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

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the track shoe subsystem.

virtual void	RemoveVisualizationAssets () override final
	Remove visualization assets for the track shoe subsystem.

Public Member Functions inherited from chrono::vehicle::ChTrackShoeBand
	ChTrackShoeBand (const std::string &name)

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

void	WriteTreadVisualizationMesh (const std::string &out_dir)
	Write the procedurally-generated tread body visualization mesh to a Wavefront OBJ file.

void	ExportTreadVisualizationMeshPovray (const std::string &out_dir)
	Export the procedurally-generated tread body visualization mesh as a macro in a PovRay include file.

Public Member Functions inherited from chrono::vehicle::ChTrackShoe
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 double	GetHeight () const =0
	Return the height of the track shoe.

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.

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

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.

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

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

Protected Member Functions
virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual unsigned int	GetNumElementsLength () const =0
	Get the number of shell elements across the web length (from tread body to tread body).

virtual unsigned int	GetNumElementsWidth () const =0
	Get the number of shell elements across the web width (side to side).

virtual double	GetSteelLayerThickness () const =0
	Get thickness of the inner steel layer. More...

Protected Member Functions inherited from chrono::vehicle::ChTrackShoeBand
virtual double	GetTreadMass () const =0
	Return the mass of the tread body.

virtual double	GetWebMass () const =0
	Return the mass of the web. More...

virtual const ChVector3d &	GetTreadInertia () const =0
	Return the moments of inertia of the tread body.

virtual const ChVector3d &	GetWebInertia () const =0
	Return the moments of inertia of the web. More...

virtual const ChVector3d &	GetGuideBoxDimensions () const =0
	Return the dimensions of the contact box for the guiding pin. More...

virtual double	GetGuideBoxOffsetX () const =0
	Return the offset (in X direction) of the guiding pin.

virtual ChVector3d	GetLateralContactPoint () const override
	Return the location of the guiding pin center, expressed in the shoe reference frame.

virtual double	GetBeltWidth () const =0
	Return the width of the CB track belt (in the Y direction)

virtual double	GetToothTipLength () const =0
	Return the length of the flat tip of the tread tooth tip (in the X direction)

virtual double	GetToothBaseLength () const =0
	Return the length of the base of the tread tooth (in the X direction) where the tooth circular profile ends.

virtual double	GetToothWidth () const =0
	Return the width of the one of the tooth profile sections of the tread tooth (in the Y direction)

virtual double	GetToothHeight () const =0
	Return the height from the base to the tip of the tread tooth profile (in the Z direction)

virtual double	GetToothArcRadius () const =0
	Return the radius of the tooth profile arc that connects the tooth tip and base lines.

virtual double	GetWebLength () const =0
	Return the combined length of all of the web sections (in the X direction)

virtual double	GetWebThickness () const =0
	Return the thickness of the web section (in the Z direction)

virtual double	GetTreadLength () const =0
	Return the length of the tread below the web area (in the X direction, tread pad for ground contact)

virtual double	GetTreadThickness () const =0
	Return the thickness of the tread below the web area (tread pad for ground contact)

virtual const std::string &	GetTreadVisualizationMeshName () const =0
	Specify the name assigned to the procedurally-generated tread body visualization mesh.

void	AddShoeContact (ChContactMethod contact_method)
	Add contact geometry for the tread body. More...

void	AddShoeVisualization ()
	Add visualization of the tread body, based on primitives corresponding to the contact shapes. More...

Protected Member Functions inherited from chrono::vehicle::ChTrackShoe
	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.

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.

Friends
class	ChTrackAssemblyBandANCF

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::ChTrackShoeBand
static ChColor	GetColor (size_t index)
	Get index-specific color (for visualization)

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::ChTrackShoeBand
ChContactMaterialData	m_tooth_matinfo
	data for contact material for teeth (sprocket interaction)

ChContactMaterialData	m_body_matinfo
	date for contact material for main body (wheel interaction)

ChContactMaterialData	m_pad_matinfo
	data for contact material for pad (ground interaction)

ChContactMaterialData	m_guide_matinfo
	date for contact material for guide pin (wheel interaction)

Protected Attributes inherited from chrono::vehicle::ChTrackShoe
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

Member Enumeration Documentation

◆ ElementType

enum chrono::vehicle::ChTrackShoeBandANCF::ElementType

strong

Enumerator
ANCF_4	4-node ANCF shell element
ANCF_8	8-node ANCF shell element

Constructor & Destructor Documentation

◆ ChTrackShoeBandANCF()

chrono::vehicle::ChTrackShoeBandANCF::ChTrackShoeBandANCF	(	const std::string &	name,
		ElementType	element_type = `ElementType::ANCF_4`,
		bool	constrain_curvature = `false`
	)

Parameters

[in]	name	name of the subsystem
[in]	element_type	ANCF shell element type
[in]	constrain_curvature	constrain curvature (ANCF_8 only)

Member Function Documentation

◆ GetSteelLayerThickness()

virtual double chrono::vehicle::ChTrackShoeBandANCF::GetSteelLayerThickness ( ) const

protectedpure virtual

Get thickness of the inner steel layer.

The rubber layer thicknesses are obtained from the total web thickness.

Implemented in chrono::vehicle::m113::M113_TrackShoeBandANCF, and chrono::vehicle::TrackShoeBandANCF.

◆ GetTension()

ChVector3d chrono::vehicle::ChTrackShoeBandANCF::GetTension ( ) const

overridevirtual

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.

Implements chrono::vehicle::ChTrackShoe.

◆ Initialize()

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

overridevirtual

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). This version initializes the bodies of a CB rigid-link track shoe such that the center of the track shoe subsystem is at the specified location and all bodies have the specified orientation.

Parameters

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

Reimplemented from chrono::vehicle::ChTrackShoeBand.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackShoeBandANCF::InitializeInertiaProperties ( )

overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChTrackShoeBandANCF::UpdateInertiaProperties ( )

overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeBandANCF.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeBandANCF.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members