Description

Base class for chrono tracked vehicle systems.

This class provides the interface between the vehicle system and other systems (terrain, driver, etc.)

#include <ChTrackedVehicle.h>

Inheritance diagram for chrono::vehicle::ChTrackedVehicle:

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Collaboration diagram for chrono::vehicle::ChTrackedVehicle:

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Public Member Functions
virtual	~ChTrackedVehicle ()
	Destructor.

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

std::shared_ptr< ChTrackAssembly >	GetTrackAssembly (VehicleSide side) const
	Get the specified suspension subsystem.

std::shared_ptr< ChDrivelineTV >	GetDriveline () const
	Get a handle to the vehicle's driveline subsystem.

size_t	GetNumTrackSuspensions (VehicleSide side) const
	Get the number of suspensions in the specified track assembly.

size_t	GetNumTrackShoes (VehicleSide side) const
	Get the number of shoes in the specified track assembly.

std::shared_ptr< ChTrackShoe >	GetTrackShoe (VehicleSide side, size_t id) const
	Get a handle to the specified track shoe.

BodyState	GetTrackShoeState (VehicleSide side, size_t shoe_id) const
	Get the complete state for the specified track shoe. More...

void	GetTrackShoeStates (VehicleSide side, BodyStates &states) const
	Get the complete states for all track shoes of the specified track assembly. More...

void	SetSprocketVisualizationType (VisualizationType vis)
	Set visualization type for the sprocket subsystem.

void	SetIdlerVisualizationType (VisualizationType vis)
	Set visualization type for the idler subsystem.

void	SetSuspensionVisualizationType (VisualizationType vis)
	Set visualization type for the suspension subsystems.

void	SetIdlerWheelVisualizationType (VisualizationType vis)
	Set visualization type for the idler wheel subsystem.

void	SetRoadWheelVisualizationType (VisualizationType vis)
	Set visualization type for the road-wheel subsystems.

void	SetRollerVisualizationType (VisualizationType vis)
	Set visualization type for the roller subsystems.

void	SetTrackShoeVisualizationType (VisualizationType vis)
	Set visualization type for the track shoe subsystems.

void	SetSprocketCollide (bool state)
	Enable/disable collision for the sprocket subsystem.

void	SetIdlerCollide (bool state)
	Enable/disable collision for the idler subsystem.

void	SetRoadWheelCollide (bool state)
	Enable/disable collision for the road-wheel subsystems.

void	SetRollerCollide (bool state)
	Enable/disable collision for the roller subsystems.

void	SetTrackShoeCollide (bool state)
	Enable/disable collision for the track shoe subsystems.

void	EnableCollision (int flags)
	Set collision flags for the various subsystems. More...

virtual void	SetChassisVehicleCollide (bool state) override
	Enable/disable collision between the chassis and all other vehicle subsystems. More...

void	EnableCustomContact (std::shared_ptr< ChTrackCustomContact > callback)
	Enable user-defined contact forces between track shoes and idlers and/or road-wheels and/or ground. More...

void	MonitorContacts (int flags)
	Set contacts to be monitored. More...

void	SetRenderContactNormals (bool val)
	Render normals of all monitored contacts.

void	SetRenderContactForces (bool val, double scale)
	Render forces of all monitored contacts.

void	SetContactCollection (bool val)
	Turn on/off contact data collection. More...

bool	IsPartInContact (TrackedCollisionFlag::Enum part) const
	Return true if the specified vehicle part is currently experiencing a collision.

ChVector3d	GetSprocketResistiveTorque (VehicleSide side) const
	Return estimated resistive torque on the specified sprocket. More...

void	WriteContacts (const std::string &filename)
	Write contact information to file. More...

void	SetTrackAssemblyOutput (VehicleSide side, bool state)
	Enable/disable output for the track assemblies. More...

virtual void	Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
	Initialize this vehicle at the specified global location and orientation. More...

virtual void	InitializeInertiaProperties () override final
	Calculate total vehicle mass. More...

void	Synchronize (double time, const DriverInputs &driver_inputs)
	Update the state of this vehicle at the current time. More...

void	Synchronize (double time, const DriverInputs &driver_inputs, const TerrainForces &shoe_forces_left, const TerrainForces &shoe_forces_right)
	Update the state of this vehicle at the current time. More...

virtual void	Advance (double step) override final
	Advance the state of this vehicle by the specified time step. More...

void	LockDifferential (bool lock)
	Lock/unlock the differential (if available).

void	DisconnectDriveline ()
	Disconnect driveline. More...

virtual void	LogConstraintViolations () override
	Log current constraint violations.

virtual std::string	ExportComponentList () const override
	Return a JSON string with information on all modeling components in the vehicle system. More...

virtual void	ExportComponentList (const std::string &filename) const override
	Write a JSON-format file with information on all modeling components in the vehicle system. More...

Public Member Functions inherited from chrono::vehicle::ChVehicle
virtual	~ChVehicle ()
	Destructor.

const std::string &	GetName () const
	Get the name identifier for this vehicle.

void	SetName (const std::string &name)
	Set the name identifier for this vehicle.

ChSystem *	GetSystem ()
	Get a pointer to the Chrono ChSystem.

double	GetChTime () const
	Get the current simulation time of the underlying ChSystem.

std::shared_ptr< ChChassis >	GetChassis () const
	Get a handle to the vehicle's main chassis subsystem.

std::shared_ptr< ChChassisRear >	GetChassisRear (int id) const
	Get the specified specified rear chassis subsystem.

std::shared_ptr< ChChassisConnector >	GetChassisConnector (int id) const
	Get a handle to the specified chassis connector.

std::shared_ptr< ChBodyAuxRef >	GetChassisBody () const
	Get a handle to the vehicle's chassis body.

std::shared_ptr< ChBodyAuxRef >	GetChassisRearBody (int id) const
	Get a handle to the specified rear chassis body.

std::shared_ptr< ChPowertrainAssembly >	GetPowertrainAssembly () const
	Get the powertrain attached to this vehicle.

std::shared_ptr< ChEngine >	GetEngine () const
	Get the engine in the powertrain assembly (if a powertrain is attached).

std::shared_ptr< ChTransmission >	GetTransmission () const
	Get the transmission in the powertrain assembly (if a powertrain is attached).

double	GetMass () const
	Get the vehicle total mass. More...

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

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

const ChFrameMoving &	GetRefFrame () const
	Get the current vehicle reference frame. More...

const ChFrame &	GetTransform () const
	Get the current vehicle transform relative to the global frame. More...

const ChVector3d &	GetPos () const
	Get the vehicle global location. More...

ChQuaternion	GetRot () const
	Get the vehicle orientation. More...

double	GetRoll () const
	Get vehicle roll angle. More...

double	GetPitch () const
	Get vehicle pitch angle. More...

double	GetRoll (const ChTerrain &terrain) const
	Get vehicle roll angle (relative to local terrain). More...

double	GetPitch (const ChTerrain &terrain) const
	Get vehicle pitch angle (relative to local terrain). More...

double	GetSpeed () const
	Get the vehicle speed (velocity component in the vehicle forward direction). More...

double	GetSlipAngle () const
	Get the vehicle slip angle. More...

double	GetRollRate () const
	Get the vehicle roll rate. More...

double	GetPitchRate () const
	Get the vehicle pitch rate. More...

double	GetYawRate () const
	Get the vehicle yaw rate. More...

double	GetTurnRate () const
	Get the vehicle turn rate. More...

ChVector3d	GetPointLocation (const ChVector3d &locpos) const
	Get the global position of the specified point. More...

ChVector3d	GetPointVelocity (const ChVector3d &locpos) const
	Get the global velocity of the specified point. More...

ChVector3d	GetPointAcceleration (const ChVector3d &locpos) const
	Get the acceleration at the specified point. More...

ChVector3d	GetDriverPos () const
	Get the global location of the driver.

void	EnableRealtime (bool val)
	Enable/disable soft real-time (default: false). More...

double	GetRTF () const
	Get current estimated RTF (real time factor). More...

double	GetStepRTF () const
	Get current estimated step RTF (real time factor). More...

void	SetCollisionSystemType (ChCollisionSystem::Type collsys_type)
	Change the default collision detection system. More...

void	SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
	Enable output for this vehicle system. More...

void	SetOutput (ChVehicleOutput::Type type, std::ostream &out_stream, double output_step)
	Enable output for this vehicle system using an existing output stream. More...

void	InitializePowertrain (std::shared_ptr< ChPowertrainAssembly > powertrain)
	Initialize the given powertrain assembly and associate it to this vehicle. More...

void	SetChassisVisualizationType (VisualizationType vis)
	Set visualization mode for the chassis subsystem.

void	SetChassisRearVisualizationType (VisualizationType vis)
	Set visualization mode for the rear chassis subsystems.

void	SetChassisCollide (bool state)
	Enable/disable collision for the chassis subsystem. More...

void	SetChassisOutput (bool state)
	Enable/disable output from the chassis subsystem.

bool	HasBushings () const
	Return true if the vehicle model contains bushings.

Protected Member Functions
	ChTrackedVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with a default ChSystem. More...

	ChTrackedVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

virtual void	UpdateInertiaProperties () override final
	Calculate current vehicle inertia properties. More...

virtual void	Output (int frame, ChVehicleOutput &database) const override
	Output data for all modeling components in the vehicle system.

Protected Member Functions inherited from chrono::vehicle::ChVehicle
	ChVehicle (const std::string &name, ChContactMethod contact_method=ChContactMethod::NSC)
	Construct a vehicle system with an underlying ChSystem. More...

	ChVehicle (const std::string &name, ChSystem *system)
	Construct a vehicle system using the specified ChSystem. More...

void	SetSystem (ChSystem *sys)
	Set the associated Chrono system.

Protected Attributes
std::shared_ptr< ChTrackAssembly >	m_tracks [2]
	track assemblies (left/right)

std::shared_ptr< ChDrivelineTV >	m_driveline
	driveline subsystem

std::shared_ptr< ChTrackCollisionManager >	m_collision_manager
	manager for internal collisions

std::shared_ptr< ChTrackContactManager >	m_contact_manager
	manager for internal contacts

Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string	m_name
	vehicle name

ChSystem *	m_system
	pointer to the Chrono system

bool	m_ownsSystem
	true if system created at construction

double	m_mass
	total vehicle mass

ChFrame	m_com
	current vehicle COM (relative to the vehicle reference frame)

ChMatrix33	m_inertia
	current total vehicle inertia (Relative to the vehicle COM frame)

bool	m_output
	generate ouput for this vehicle system

ChVehicleOutput *	m_output_db
	vehicle output database

double	m_output_step
	output time step

double	m_next_output_time
	time for next output

int	m_output_frame
	current output frame

std::shared_ptr< ChChassis >	m_chassis
	handle to the main chassis subsystem

ChChassisRearList	m_chassis_rear
	list of rear chassis subsystems (can be empty)

ChChassisConnectorList	m_chassis_connectors
	list of chassis connector (must match m_chassis_rear)

std::shared_ptr< ChPowertrainAssembly >	m_powertrain_assembly
	associated powertrain system

Friends
class	ChTrackedVehicleVisualSystemIrrlicht

Additional Inherited Members
Static Protected Member Functions inherited from chrono::vehicle::ChVehicle
template<typename T >
static bool	AnyOutput (const std::vector< std::shared_ptr< T >> &list)
	Utility function for testing if any subsystem in a list generates output.

Constructor & Destructor Documentation

◆ ChTrackedVehicle() [1/2]

chrono::vehicle::ChTrackedVehicle::ChTrackedVehicle	(	const std::string &	name,
		ChContactMethod	contact_method = `ChContactMethod::NSC`
	)

protected

Construct a vehicle system with a default ChSystem.

Parameters

[in]	name	vehicle name
[in]	contact_method	contact method

◆ ChTrackedVehicle() [2/2]

chrono::vehicle::ChTrackedVehicle::ChTrackedVehicle	(	const std::string &	name,
		ChSystem *	system
	)

protected

Construct a vehicle system using the specified ChSystem.

Parameters

[in]	name	vehicle name
[in]	system	containing mechanical system

Member Function Documentation

◆ Advance()

void chrono::vehicle::ChTrackedVehicle::Advance ( double step )

finaloverridevirtual

Advance the state of this vehicle by the specified time step.

In addition to advancing the state of the multibody system (if the vehicle owns the underlying system), this function also advances the state of the associated powertrain.

Reimplemented from chrono::vehicle::ChVehicle.

◆ DisconnectDriveline()

void chrono::vehicle::ChTrackedVehicle::DisconnectDriveline ( )

Disconnect driveline.

This function has no effect if called before vehicle initialization.

◆ EnableCollision()

void chrono::vehicle::ChTrackedVehicle::EnableCollision ( int flags )

Set collision flags for the various subsystems.

By default, collision is enabled for chassis, sprocket, idler, road wheels, and track shoes. To override these default settings, this function must be called called after the call to Initialize(). The 'flags' argument can be any of the TrackedCollisionFlag enums, or a combination thereof (using bit-wise operators).

◆ EnableCustomContact()

void chrono::vehicle::ChTrackedVehicle::EnableCustomContact ( std::shared_ptr< ChTrackCustomContact > callback )

Enable user-defined contact forces between track shoes and idlers and/or road-wheels and/or ground.

By default, contact forces are generated by the underlying Chrono contact processing. If enabled, no contact forces are applied automatically for specified collision types. Instead, these collisions are cached and passed to the user-supplied callback which must compute the contact force for each individual collision.

◆ ExportComponentList() [1/2]

std::string chrono::vehicle::ChTrackedVehicle::ExportComponentList ( ) const

overridevirtual

Return a JSON string with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implements chrono::vehicle::ChVehicle.

◆ ExportComponentList() [2/2]

void chrono::vehicle::ChTrackedVehicle::ExportComponentList ( const std::string & filename ) const

overridevirtual

Write a JSON-format file with information on all modeling components in the vehicle system.

These include bodies, shafts, joints, spring-damper elements, markers, etc.

Implements chrono::vehicle::ChVehicle.

◆ GetSprocketResistiveTorque()

ChVector3d chrono::vehicle::ChTrackedVehicle::GetSprocketResistiveTorque ( VehicleSide side ) const

inline

Return estimated resistive torque on the specified sprocket.

This torque is available only if monitoring of contacts for that sprocket is enabled.

◆ GetTrackShoeState()

BodyState chrono::vehicle::ChTrackedVehicle::GetTrackShoeState	(	VehicleSide	side,
		size_t	shoe_id
	)		const

inline

Get the complete state for the specified track shoe.

This includes the location, orientation, linear and angular velocities, all expressed in the global reference frame.

◆ GetTrackShoeStates()

void chrono::vehicle::ChTrackedVehicle::GetTrackShoeStates	(	VehicleSide	side,
		BodyStates &	states
	)		const

inline

Get the complete states for all track shoes of the specified track assembly.

It is assumed that the vector of body states was properly sized.

◆ Initialize()

void chrono::vehicle::ChTrackedVehicle::Initialize	(	const ChCoordsys<> &	chassisPos,
		double	chassisFwdVel = `0`
	)

overridevirtual

Initialize this vehicle at the specified global location and orientation.

This base class implementation only initializes the main chassis subsystem. Derived classes must extend this function to initialize all other tracked vehicle subsystems (the two track assemblies and the driveline).

Parameters

[in]	chassisPos	initial global position and orientation
[in]	chassisFwdVel	initial chassis forward velocity

Reimplemented from chrono::vehicle::ChVehicle.

Reimplemented in chrono::vehicle::marder::Marder_Vehicle, chrono::vehicle::m113::M113_Vehicle, and chrono::vehicle::TrackedVehicle.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTrackedVehicle::InitializeInertiaProperties ( )

finaloverridevirtual

Calculate total vehicle mass.

This function is called at the end of the vehicle initialization, but can also be called explicitly.

Implements chrono::vehicle::ChVehicle.

◆ MonitorContacts()

void chrono::vehicle::ChTrackedVehicle::MonitorContacts ( int flags )

inline

Set contacts to be monitored.

Contact information will be tracked for the specified subsystems.

◆ SetChassisVehicleCollide()

void chrono::vehicle::ChTrackedVehicle::SetChassisVehicleCollide ( bool state )

overridevirtual

Enable/disable collision between the chassis and all other vehicle subsystems.

This only controls collisions between the chassis and the track shoes. All other internal collisions involving the chassis are always ignored.

Reimplemented from chrono::vehicle::ChVehicle.

◆ SetContactCollection()

void chrono::vehicle::ChTrackedVehicle::SetContactCollection ( bool val )

inline

Turn on/off contact data collection.

If enabled, contact information will be collected for all monitored subsystems.

◆ SetTrackAssemblyOutput()

void chrono::vehicle::ChTrackedVehicle::SetTrackAssemblyOutput	(	VehicleSide	side,
		bool	state
	)

Enable/disable output for the track assemblies.

◆ Synchronize() [1/2]

void chrono::vehicle::ChTrackedVehicle::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs
	)

Update the state of this vehicle at the current time.

The vehicle system is provided the current driver inputs (throttle between 0 and 1, steering between -1 and +1, braking between 0 and 1).

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs

◆ Synchronize() [2/2]

void chrono::vehicle::ChTrackedVehicle::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs,
		const TerrainForces &	shoe_forces_left,
		const TerrainForces &	shoe_forces_right
	)

Update the state of this vehicle at the current time.

This version can be used in a co-simulation framework and it provides the terrain forces on the track shoes (assumed to be expressed in the global reference frame).

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs
[in]	shoe_forces_left	vector of track shoe forces (left side)
[in]	shoe_forces_right	vector of track shoe forces (left side)

◆ UpdateInertiaProperties()

void chrono::vehicle::ChTrackedVehicle::UpdateInertiaProperties ( )

finaloverrideprotectedvirtual

Calculate current vehicle inertia properties.

This function is called at the end of each vehicle state advance.

Implements chrono::vehicle::ChVehicle.

◆ WriteContacts()

void chrono::vehicle::ChTrackedVehicle::WriteContacts ( const std::string & filename )

inline

Write contact information to file.

If data collection was enabled and at least one subsystem is monitored, contact information is written (in CSV format) to the specified file.

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

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

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChTrackedVehicle() [1/2]

◆ ChTrackedVehicle() [2/2]

Member Function Documentation

◆ Advance()

◆ DisconnectDriveline()

◆ EnableCollision()

◆ EnableCustomContact()

◆ ExportComponentList() [1/2]

◆ ExportComponentList() [2/2]

◆ GetSprocketResistiveTorque()

◆ GetTrackShoeState()

◆ GetTrackShoeStates()

◆ Initialize()

◆ InitializeInertiaProperties()

◆ MonitorContacts()

◆ SetChassisVehicleCollide()

◆ SetContactCollection()

◆ SetTrackAssemblyOutput()

◆ Synchronize() [1/2]

◆ Synchronize() [2/2]

◆ UpdateInertiaProperties()

◆ WriteContacts()