chrono::vehicle::marder::Marder_Vehicle Class Reference

Description

Definition of an Marder tracked vehicle with segmented tracks.

Both single-pin and double-pin track assemblies can be used with this vehicle model.

#include <Marder_Vehicle.h>

Inheritance diagram for chrono::vehicle::marder::Marder_Vehicle:
Collaboration diagram for chrono::vehicle::marder::Marder_Vehicle:

Public Member Functions

 Marder_Vehicle (bool fixed, TrackShoeType shoe_type, DrivelineTypeTV driveline_type, BrakeType brake_type, ChContactMethod contact_method=ChContactMethod::NSC, CollisionType chassis_collision_type=CollisionType::NONE)
 Construct the M113 vehicle within an automatically created Chrono system.
 
 Marder_Vehicle (bool fixed, TrackShoeType shoe_type, DrivelineTypeTV driveline_type, BrakeType brake_type, ChSystem *system, CollisionType chassis_collision_type=CollisionType::NONE)
 Construct the M113 vehicle within the specified Chrono system.
 
void CreateTrack (bool val)
 Create the track shoes (default: true).
 
virtual void Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
 Initialize the M113 vehicle at the specified location and orientation.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackedVehicle
virtual ~ChTrackedVehicle ()
 Destructor.
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle system template.
 
std::shared_ptr< ChTrackAssemblyGetTrackAssembly (VehicleSide side) const
 Get the specified suspension subsystem.
 
std::shared_ptr< ChDrivelineTVGetDriveline () 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< ChTrackShoeGetTrackShoe (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 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.
 
ChSystemGetSystem ()
 Get a pointer to the Chrono ChSystem.
 
double GetChTime () const
 Get the current simulation time of the underlying ChSystem.
 
std::shared_ptr< ChChassisGetChassis () const
 Get a handle to the vehicle's main chassis subsystem.
 
std::shared_ptr< ChChassisRearGetChassisRear (int id) const
 Get the specified specified rear chassis subsystem.
 
std::shared_ptr< ChChassisConnectorGetChassisConnector (int id) const
 Get a handle to the specified chassis connector.
 
std::shared_ptr< ChBodyAuxRefGetChassisBody () const
 Get a handle to the vehicle's chassis body.
 
std::shared_ptr< ChBodyAuxRefGetChassisRearBody (int id) const
 Get a handle to the specified rear chassis body.
 
std::shared_ptr< ChPowertrainAssemblyGetPowertrainAssembly () const
 Get the powertrain attached to this vehicle.
 
std::shared_ptr< ChEngineGetEngine () const
 Get the engine in the powertrain assembly (if a powertrain is attached).
 
std::shared_ptr< ChTransmissionGetTransmission () const
 Get the transmission in the powertrain assembly (if a powertrain is attached).
 
double GetMass () const
 Get the vehicle total mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current vehicle inertia (relative to the vehicle COM frame).
 
const ChFrameMovingGetRefFrame () const
 Get the current vehicle reference frame. More...
 
const ChFrameGetTransform () const
 Get the current vehicle transform relative to the global frame. More...
 
const ChVector3dGetPos () 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.
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::vehicle::ChTrackedVehicle
 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.
 
- 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.
 
- Protected Attributes inherited from chrono::vehicle::ChTrackedVehicle
std::shared_ptr< ChTrackAssemblym_tracks [2]
 track assemblies (left/right)
 
std::shared_ptr< ChDrivelineTVm_driveline
 driveline subsystem
 
std::shared_ptr< ChTrackCollisionManager > m_collision_manager
 manager for internal collisions
 
std::shared_ptr< ChTrackContactManagerm_contact_manager
 manager for internal contacts
 
- Protected Attributes inherited from chrono::vehicle::ChVehicle
std::string m_name
 vehicle name
 
ChSystemm_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
 
ChVehicleOutputm_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< ChChassism_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< ChPowertrainAssemblym_powertrain_assembly
 associated powertrain system
 

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Vehicle.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/marder/Marder_Vehicle.cpp