Description

Base class for a single-pin track shoe (template definition).

A single-pin track shoe can be either of CENTRAL_PIN or LATERAL_PIN type.

#include <ChTrackShoeSinglePin.h>

Inheritance diagram for chrono::vehicle::ChTrackShoeSinglePin:

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Collaboration diagram for chrono::vehicle::ChTrackShoeSinglePin:

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Public Member Functions
	ChTrackShoeSinglePin (const std::string &name)

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...

Public Member Functions inherited from chrono::vehicle::ChTrackShoeSegmented
std::shared_ptr< ChContactMaterial >	GetSprocketContactMaterial () const
	Get the contact material for the track shoe part interacting with the sprocket.

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 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.

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 double	GetShoeMass () const =0
	Return the mass of the shoe body.

virtual const ChVector3d &	GetShoeInertia () const =0
	Return the moments of inertia of the shoe body.

virtual double	GetFrontCylinderLoc () const =0
	Return the location of the front contact cylinder. More...

virtual double	GetRearCylinderLoc () const =0
	Return the location of the rear contact cylinder. More...

virtual double	GetCylinderRadius () const =0
	Return the radius of the contact cylinders.

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

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::ChTrackShoeSegmented
	ChTrackShoeSegmented (const std::string &name)

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

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

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	ChSprocketSinglePin

class	SprocketSinglePinContactCB

class	ChTrackAssemblySinglePin

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).

Protected Attributes inherited from chrono::vehicle::ChTrackShoeSegmented
utils::ChBodyGeometry	m_geometry
	collection of visualization and collision shapes

ChContactMaterialData	m_shoe_sprk_minfo
	data for contact material for shoe shape contacting sprocket

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

Constructor & Destructor Documentation

◆ ChTrackShoeSinglePin()

chrono::vehicle::ChTrackShoeSinglePin::ChTrackShoeSinglePin ( const std::string & name )

Parameters

[in] name name of the subsystem

Member Function Documentation

◆ ExportComponentList()

void chrono::vehicle::ChTrackShoeSinglePin::ExportComponentList ( rapidjson::Document & jsonDocument ) const

overrideprotectedvirtual

Export this subsystem's component list to the specified JSON object.

Derived classes should override this function and first invoke the base class implementation, followed by calls to the various static Export***List functions, as appropriate.

Reimplemented from chrono::vehicle::ChPart.

◆ GetFrontCylinderLoc()

virtual double chrono::vehicle::ChTrackShoeSinglePin::GetFrontCylinderLoc ( ) const

protectedpure virtual

Return the location of the front contact cylinder.

This location is relative to the shoe reference frame (in the positive x direction)

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

◆ GetRearCylinderLoc()

virtual double chrono::vehicle::ChTrackShoeSinglePin::GetRearCylinderLoc ( ) const

protectedpure virtual

Return the location of the rear contact cylinder.

This location is relative to the shoe reference frame (in the negative x direction)

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

◆ GetTension()

ChVector3d chrono::vehicle::ChTrackShoeSinglePin::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::ChTrackShoeSinglePin::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). A derived class must extend this default implementation and specify the contact geometry for the track shoe body.

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::ChTrackShoeSegmented.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackShoeSinglePin::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::ChTrackShoeSinglePin::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/ChTrackShoeSinglePin.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/track_shoe/ChTrackShoeSinglePin.cpp

Description

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackShoeSinglePin()

Member Function Documentation

◆ ExportComponentList()

◆ GetFrontCylinderLoc()

◆ GetRearCylinderLoc()

◆ GetTension()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ UpdateInertiaProperties()