Project Chrono: chrono::vehicle::TrackedVehicle Class Reference

Public Member Functions | List of all members
chrono::vehicle::TrackedVehicle Class Reference
VEHICLE module » Tracked vehicles

## Description

Tracked vehicle model constructed from a JSON specification file.

`#include <TrackedVehicle.h>`

Inheritance diagram for chrono::vehicle::TrackedVehicle:
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Collaboration diagram for chrono::vehicle::TrackedVehicle:
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## Public Member Functions
| TrackedVehicle (const std::string &filename, ChContactMethod contact_method=ChContactMethod::NSC)
| TrackedVehicle (ChSystem *system, const std::string &filename)
virtual void | Initialize (const ChCoordsys<> &chassisPos, double chassisFwdVel=0) override
| Initialize this vehicle at the specified global 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< 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.
void | GetTrackShoeStates (VehicleSide side, BodyStates &states) const
| Get the complete states for all track shoes of the specified track assembly.
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.
virtual void | SetChassisVehicleCollide (bool state) override
| Enable/disable collision between the chassis and all other vehicle subsystems.
void | EnableCustomContact (std::shared_ptr< ChTrackCustomContact > callback)
| Enable user-defined contact forces between track shoes and idlers and/or road-wheels and/or ground.
void | MonitorContacts (int flags)
| Set contacts to be monitored.
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.
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.
void | WriteContacts (const std::string &filename)
| Write contact information to file.
void | SetTrackAssemblyOutput (VehicleSide side, bool state)
| Enable/disable output for the track assemblies.
virtual void | InitializeInertiaProperties () override final
| Calculate total vehicle mass.
void | Synchronize (double time, const DriverInputs &driver_inputs)
| Update the state of this vehicle at the current time.
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.
virtual void | Advance (double step) override final
| Advance the state of this vehicle by the specified time step.
void | LockDifferential (bool lock)
| Lock/unlock the differential (if available).
void | DisconnectDriveline ()
| Disconnect driveline.
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.
virtual void | ExportComponentList (const std::string &filename) const override
| Write a JSON-format file with information on all modeling components in the vehicle system.
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.
const ChFrame & | GetCOMFrame () const
| Get the current vehicle COM frame (relative to and expressed in the vehicle reference frame).
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.
const ChFrame & | GetTransform () const
| Get the current vehicle transform relative to the global frame.
const ChVector3d & | GetPos () const
| Get the vehicle global location.
ChQuaternion | GetRot () const
| Get the vehicle orientation.
double | GetRoll () const
| Get vehicle roll angle.
double | GetPitch () const
| Get vehicle pitch angle.
double | GetRoll (const ChTerrain &terrain) const
| Get vehicle roll angle (relative to local terrain).
double | GetPitch (const ChTerrain &terrain) const
| Get vehicle pitch angle (relative to local terrain).
double | GetSpeed () const
| Get the vehicle speed (velocity component in the vehicle forward direction).
double | GetSlipAngle () const
| Get the vehicle slip angle.
double | GetRollRate () const
| Get the vehicle roll rate.
double | GetPitchRate () const
| Get the vehicle pitch rate.
double | GetYawRate () const
| Get the vehicle yaw rate.
double | GetTurnRate () const
| Get the vehicle turn rate.
ChVector3d | GetPointLocation (const ChVector3d &locpos) const
| Get the global position of the specified point.
ChVector3d | GetPointVelocity (const ChVector3d &locpos) const
| Get the global velocity of the specified point.
ChVector3d | GetPointAcceleration (const ChVector3d &locpos) const
| Get the acceleration at the specified point.
ChVector3d | GetDriverPos () const
| Get the global location of the driver.
void | EnableRealtime (bool val)
| Enable/disable soft real-time (default: false).
double | GetRTF () const
| Get current estimated RTF (real time factor).
double | GetStepRTF () const
| Get current estimated step RTF (real time factor).
void | SetCollisionSystemType (ChCollisionSystem::Type collsys_type)
| Change the default collision detection system.
void | SetOutput (ChVehicleOutput::Type type, const std::string &out_dir, const std::string &out_name, double output_step)
| Enable output for this vehicle system.
void | SetOutput (ChVehicleOutput::Type type, std::ostream &out_stream, double output_step)
| Enable output for this vehicle system using an existing output stream.
void | InitializePowertrain (std::shared_ptr< ChPowertrainAssembly > powertrain)
| Initialize the given powertrain assembly and associate it to this vehicle.
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.
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.
| ChTrackedVehicle (const std::string &name, ChSystem *system)
| Construct a vehicle system using the specified ChSystem.
virtual void | UpdateInertiaProperties () override final
| Calculate current vehicle inertia properties.
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.
| ChVehicle (const std::string &name, ChSystem *system)
| Construct a vehicle system using the specified ChSystem.
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< 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

## Member Function Documentation

## ◆ Initialize()

void chrono::vehicle::TrackedVehicle::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::ChTrackedVehicle.

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

- D:/W/B/src/chrono-9.0.1/src/chrono_vehicle/tracked_vehicle/vehicle/TrackedVehicle.h
- D:/W/B/src/chrono-9.0.1/src/chrono_vehicle/tracked_vehicle/vehicle/TrackedVehicle.cpp