Base class for segmented track assemblies.
Track shoes in such an assembly are modeled with one or more rigid bodies connected through joints or bushings.
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| void | EnableTrackBendingStiffness (bool val) |
| | Enable/disable modeling of track bending stiffness.
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| std::shared_ptr< ChLinkRSDA::TorqueFunctor > | GetTorqueFunctor () const |
| | Return the functor for calculating the torque that models track bending stiffness.
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| std::shared_ptr< ChVehicleBushingData > | GetBushingData () const |
| | Get parameters for modeling bushing in the track shoe connections.
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VehicleSide | GetVehicleSide () const |
| | Return the vehicle side for this track assembly.
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size_t | GetNumTrackSuspensions () const |
| | Get the number of suspensions.
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size_t | GetNumRollers () const |
| | Get the number of rollers.
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| virtual size_t | GetNumTrackShoes () const =0 |
| | Get the number of track shoes.
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| virtual std::shared_ptr< ChSprocket > | GetSprocket () const =0 |
| | Get a handle to the sprocket.
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std::shared_ptr< ChIdler > | GetIdler () const |
| | Get a handle to the idler subsystem.
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std::shared_ptr< ChTrackWheel > | GetIdlerWheel () const |
| | Get a handle to the idelr wheel subsystem.
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std::shared_ptr< ChTrackBrake > | GetBrake () const |
| | Get a handle to the brake subsystem.
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const ChTrackSuspensionList & | GetTrackSuspensions () const |
| | Get the list of suspension subsystems.
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std::shared_ptr< ChTrackSuspension > | GetTrackSuspension (size_t id) const |
| | Get a handle to the specified suspension subsystem.
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std::shared_ptr< ChTrackWheel > | GetRoller (size_t id) const |
| | Get a handle to the specified roller subsystem.
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std::shared_ptr< ChTrackWheel > | GetRoadWheel (size_t id) const |
| | Get a handle to the specified road wheel subsystem.
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| virtual std::shared_ptr< ChTrackShoe > | GetTrackShoe (size_t id) const =0 |
| | Get a handle to the specified track shoe subsystem.
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| const ChVector3d & | GetTrackShoePos (size_t id) const |
| | Get the global location of the specified track shoe.
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| const ChQuaternion & | GetTrackShoeRot (size_t id) const |
| | Get the orientation of the specified track shoe.
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| const ChVector3d & | GetTrackShoeLinVel (size_t id) const |
| | Get the linear velocity of the specified track shoe.
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| ChVector3d | GetTrackShoeAngVel (size_t id) const |
| | Get the angular velocity of the specified track shoe.
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| ChVector3d | GetTrackShoeTension (size_t id) const |
| | Get track tension at the specified track shoe.
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| BodyState | GetTrackShoeState (size_t id) const |
| | Get the complete state for the specified track shoe.
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| void | GetTrackShoeStates (BodyStates &states) const |
| | Get the complete states for all track shoes.
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| virtual const ChVector3d | GetSprocketLocation () const =0 |
| | Get the relative location of the sprocket subsystem.
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| virtual const ChVector3d | GetIdlerLocation () const =0 |
| | Get the relative location of the idler subsystem.
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| virtual const ChVector3d | GetRoadWhelAssemblyLocation (int which) const =0 |
| | Get the relative location of the specified suspension subsystem.
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| virtual const ChVector3d | GetRollerLocation (int which) const |
| | Get the relative location of the specified roller subsystem.
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| void | Initialize (std::shared_ptr< ChChassis > chassis, const ChVector3d &location, bool create_shoes=true) |
| | Initialize this track assembly subsystem.
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double | ReportTrackLength () const |
| | Return total assembled track length (sum of pitch over all track shoes).
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| ChTrackSuspension::ForceTorque | ReportSuspensionForce (size_t id) const |
| | Return current suspension forces or torques, as appropriate (spring and shock) for the specified suspension.
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void | SetSprocketVisualizationType (VisualizationType vis) |
| | Set visualization type for the sprocket subsystem.
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void | SetIdlerVisualizationType (VisualizationType vis) |
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void | SetSuspensionVisualizationType (VisualizationType vis) |
| | Set visualization type for the suspension subsystems.
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void | SetIdlerWheelVisualizationType (VisualizationType vis) |
| | Set visualization type for the idler-wheel subsystems.
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void | SetRoadWheelVisualizationType (VisualizationType vis) |
| | Set visualization type for the road-wheel subsystems.
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void | SetRollerVisualizationType (VisualizationType vis) |
| | Set visualization type for the roller subsystems.
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void | SetTrackShoeVisualizationType (VisualizationType vis) |
| | Set visualization type for the track shoe subsystems.
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void | SetWheelCollisionType (bool roadwheel_as_cylinder, bool idler_as_cylinder, bool roller_as_cylinder) |
| | Set collision shape type for wheels.
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| void | Synchronize (double time, double braking) |
| | Update the state of this track assembly at the current time.
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| void | Synchronize (double time, double braking, const TerrainForces &shoe_forces) |
| | Update the state of this track assembly at the current time.
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virtual void | Advance (double step) |
| | Advance the state of this track assembly by the specified time step.
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| virtual void | SetOutput (bool state) override |
| | Enable/disable output for this subsystem.
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void | LogConstraintViolations () |
| | Log current constraint violations.
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bool | IsRoadwheelCylinder () const |
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bool | IsIdlerCylinder () const |
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bool | IsRolerCylinder () const |
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const std::string & | GetName () const |
| | Get the name identifier for this subsystem.
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void | SetName (const std::string &name) |
| | Set the name identifier for this subsystem.
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| virtual std::string | GetTemplateName () const =0 |
| | Get the name of the vehicle subsystem template.
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bool | IsInitialized () const |
| | Return flag indicating whether or not the part is fully constructed.
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| double | GetMass () const |
| | Get the subsystem mass.
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| const ChFrame & | GetCOMFrame () const |
| | Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame).
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| const ChMatrix33 & | GetInertia () const |
| | Get the current subsystem inertia (relative to the subsystem COM frame).
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| const ChFrame & | GetTransform () const |
| | Get the current subsystem position relative to the global frame.
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void | SetVisualizationType (VisualizationType vis) |
| | Set the visualization mode for this subsystem.
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| virtual void | AddVisualizationAssets (VisualizationType vis) |
| | Add visualization assets to this subsystem, for the specified visualization mode.
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| virtual void | RemoveVisualizationAssets () |
| | Remove all visualization assets from this subsystem.
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bool | OutputEnabled () const |
| | Return the output state for this subsystem.
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| | ChTrackAssemblySegmented (const std::string &name, VehicleSide side) |
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| | ChTrackAssembly (const std::string &name, VehicleSide side) |
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| virtual void | InitializeInertiaProperties () override |
| | Initialize subsystem inertia properties.
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| virtual void | UpdateInertiaProperties () override |
| | Update subsystem inertia properties.
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| virtual bool | Assemble (std::shared_ptr< ChBodyAuxRef > chassis)=0 |
| | Assemble track shoes over wheels.
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virtual void | RemoveTrackShoes ()=0 |
| | Remove all track shoes from assembly.
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| virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const override |
| | Export this subsystem's component list to the specified JSON object.
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| virtual void | Output (ChVehicleOutput &database) const override |
| | Output data for this subsystem's component list to the specified database.
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| ChPart (const std::string &name) |
| | Construct a vehicle subsystem with the specified name.
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| void | AddMass (double &mass) |
| | Add this subsystem's mass.
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| void | AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia) |
| | Add this subsystem's inertia properties.
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| virtual void | Create (const rapidjson::Document &d) |
| | Create a vehicle subsystem from JSON data.
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void | ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody > > bodies) const |
| | Export the list of bodies to the specified JSON document.
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void | ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft > > shafts) const |
| | Export the list of shafts to the specified JSON document.
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void | ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink > > joints) const |
| | Export the list of joints to the specified JSON document.
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void | ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple > > couples) const |
| | Export the list of shaft couples to the specified JSON document.
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void | ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker > > markers) const |
| | Export the list of markers to the specified JSON document.
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void | ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA > > springs) const |
| | Export the list of translational springs to the specified JSON document.
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void | ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA > > springs) const |
| | Export the list of rotational springs to the specified JSON document.
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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.
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