Idler-wheel model for the M113 vehicle (base class).
|
virtual double | GetMass () const override |
| Return the mass of the idler wheel body.
|
|
virtual const ChVector3d & | GetInertia () override |
| Return the moments of inertia of the idler wheel body.
|
|
virtual double | GetRadius () const override |
| Return the radius of the idler wheel.
|
|
virtual double | GetWidth () const override |
| Return the total width of the idler wheel.
|
|
virtual double | GetGap () const override |
| Return the gap width.
|
|
| ChDoubleTrackWheel (const std::string &name) |
|
virtual std::string | GetTemplateName () const override |
| Get the name of the vehicle subsystem template.
|
|
virtual GuidePinType | GetType () const final override |
| Return the type of track shoe consistent with this track wheel.
|
|
virtual void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChBody > carrier, const ChVector3d &location, ChTrackAssembly *track) override |
| Initialize this track wheel subsystem.
|
|
virtual void | RemoveVisualizationAssets () override final |
| Remove visualization assets for the track-wheel subsystem.
|
|
std::shared_ptr< ChBody > | GetBody () const |
| Get a handle to the wheel body.
|
|
std::shared_ptr< ChLinkLockRevolute > | GetRevolute () const |
| Get a handle to the revolute joint.
|
|
void | EnableCollision (bool val) |
| Turn on/off collision flag for the track wheel (default: true).
|
|
void | LogConstraintViolations () |
| Log current constraint violations.
|
|
virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
| Export this subsystem's component list to the specified JSON object.
|
|
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.
|
|
const ChFrame & | GetCOMFrame () const |
| Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame).
|
|
const ChMatrix33 & | GetInertia () const |
| Get the current subsystem inertia (relative to the subsystem COM frame).
|
|
const ChFrame & | GetTransform () const |
| Get the current subsystem position relative to the global frame.
|
|
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.
|
|
|
| M113_IdlerWheel (const std::string &name) |
|
virtual VehicleSide | GetVehicleSide () const =0 |
|
virtual std::string | GetMeshFile () const =0 |
|
virtual void | CreateContactMaterial (ChContactMethod contact_method) override |
| Create the contact material consistent with the specified contact method.
|
|
virtual void | AddVisualizationAssets (VisualizationType vis) override |
| Add visualization of the road wheel.
|
|
| ChTrackWheel (const std::string &name) |
| Construct a road-wheel subsystem with given name.
|
|
virtual void | InitializeInertiaProperties () override |
| Initialize subsystem inertia properties.
|
|
virtual void | UpdateInertiaProperties () override |
| Update subsystem inertia properties.
|
|
virtual void | Output (ChVehicleOutput &database) const override |
| Output data for this subsystem's component list to the specified database.
|
|
| ChPart (const std::string &name) |
| Construct a vehicle subsystem with the specified name.
|
|
void | AddMass (double &mass) |
| Add this subsystem's mass.
|
|
void | AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia) |
| Add this subsystem's inertia properties.
|
|
virtual void | Create (const rapidjson::Document &d) |
| Create a vehicle subsystem from JSON data.
|
|
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.
|
|
|
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.
|
|
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).
|
|
std::shared_ptr< ChBody > | m_wheel |
| track wheel body
|
|
std::shared_ptr< ChLinkLockRevolute > | m_revolute |
| wheel revolute joint
|
|
std::shared_ptr< ChContactMaterial > | m_material |
| contact material;
|
|
ChTrackAssembly * | m_track |
| containing track assembly
|
|
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
|
|