Base class for a tracked vehicle driveline.
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virtual double | GetSprocketTorque (VehicleSide side) const =0 |
| Get the motor torque to be applied to the specified sprocket.
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virtual double | GetSprocketSpeed (VehicleSide side) const =0 |
| Get the angular speed of the specified sprocket.
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virtual void | SetGyrationMode (bool mode) |
| Turn gyration mode on/off.
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virtual void | Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right)=0 |
| Initialize the driveline subsystem.
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virtual void | LockDifferential (bool lock) |
| Lock/unlock the differential (if available).
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void | Initialize (std::shared_ptr< ChChassis > chassis) |
| Initialize the driveline.
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virtual void | Synchronize (double time, const DriverInputs &driver_inputs, double driveshaft_torque)=0 |
| Update the driveline subsystem.
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virtual void | Disconnect ()=0 |
| Disconnect driveline.
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virtual double | GetOutputDriveshaftSpeed () const =0 |
| Return the output driveline speed of the driveshaft.
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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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virtual void | SetOutput (bool state) |
| Enable/disable output for this subsystem.
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bool | OutputEnabled () const |
| Return the output state for this subsystem.
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virtual void | ExportComponentList (rapidjson::Document &jsonDocument) const |
| Export this subsystem's component list to the specified JSON object.
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virtual void | Output (ChVehicleOutput &database) const |
| Output data for this subsystem's component list to the specified database.
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| ChDrivelineTV (const std::string &name) |
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virtual void | CombineDriverInputs (const DriverInputs &driver_inputs, double &braking_left, double &braking_right) |
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| ChDriveline (const std::string &name) |
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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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| 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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