Description

template<int nop>
class chrono::copter::Copter< nop >

Base class for any copter, template parameter nop is the number of propellers.

Propellers position, data, rotation verse, vertical axis and all mass porperties are settable.

#include <Copter.h>

Collaboration diagram for chrono::copter::Copter< nop >:

Public Member Functions
	Copter (ChSystem &sys, const ChVector<> &cpos, std::vector< ChVector<>> ppos, const bool clockwise[], bool are_prop_pos_rel=true, bool z_up=false)

std::shared_ptr< ChBody >	GetChassis () const
	Get the chassis body.

void	SetPropellerData (double mass, const ChVector<> &inerXX, double diam, double thrust_coeff, double power_coeff, double max_rpm)
	Set the propeller properties. More...

void	SetLinearDragCoeff (double ldc)
	Set the drag coefficient.

double	GetLinearDragCoeff () const
	Get the drag coefficient.

void	SetLinearDragSurf (double dsurf)
	Set the area used in evaluation of drag force.

double	GetLinearDragSurf () const
	Get the area used in evaluation of drag force.

void	AddVisualizationAssets (const std::string &chassismesh, const std::string &propellermesh, const ChFrame<> &cor_m1, const ChFrame<> &cor_m2)
	Add generic triangular meshes to the chassis and the propellers.

void	ControlIncremental (double inputs[nop])
	Increment propeller angular velocity.

void	ControlAbsolute (double inputs[nop])
	Set Propellers angular velocity.

void	Update (double timestep)
	Update the copter internal physics.

void	SetGroundAirDensity (double rho)
	Set initial (h = 0) air density.

double	GetAirPressure () const
	Get the air pressure at copter height.

double	GetGroundAirPressure () const
	Get the air pressure at 0 height.

void	SetGroundPressure (double p0)
	Set the air pressure at copter height.

double	GetGroundAirDensity () const
	Get the air density at copter height.

double	GetAirDensity () const
	Get the air density at copter height.

double	GetAltitude () const
	Get the copter altitude.

double	GetInitAltitude () const
	Get the initial copter altitude.

void	SetInitAltitude (double alt)
	Set the initial copter altitude.

double	GetTemperature () const
	Get air temperature.

void	SetTemperature (double temp)
	Set air temperature.

double	GetGroundTemperature () const
	Get ground air temperature.

void	SetGroundTemperature (double temp)
	Set ground air temperature.

Protected Attributes
std::shared_ptr< ChBody >	chassis
	Chassis body.

std::string	chassis_mesh_file
	Visualization meshes.

std::string	prop_mesh_file
	Visualization meshes.

std::vector< std::shared_ptr< ChBody > >	props
	Propeller bodies.

double	rps_max
	Max propeller angular speed [rot/s].

double	Dp
	Propeller diameter [m].

double	Ct
	Thrust coefficient.

double	Cp
	Power coefficient.

double	u_p [nop]
	Propeller rotation as fraction of max rpm (in [0,1])

double	rho = 1.225
	Air density [kg/m^3].

double	rho0 = 1.225
	Ground Air density [kg/m^3].

double	pressure = 101325
	Air pressure [Pa].

double	pressure0 = 101325
	Ground Air pressure [Pa].

double	Altitude
	Altitude [m].

double	Temp0 = 298
	Ground Air Temperature [K].

double	Temp = 298
	Air Temperature [K].

double	Altitude0 = 0
	Initial Altitude [m].

double	h0 = 0
	Initial Altitude in simulation [m].

ChVector	up
	Vertical axis.

std::vector< std::shared_ptr< ChForce > >	thrusts
	Thrust Forces.

std::vector< std::shared_ptr< ChForce > >	backtorques
	Propeller Resistance torques.

std::vector< std::shared_ptr< ChLinkMotorRotationSpeed > >	motors
	Propeller Motors.

std::vector< std::shared_ptr< ChFunction_Const > >	speeds
	Propeller Motors Speed Functions.

double	Cd = 0
	Drag coefficient.

std::shared_ptr< ChForce >	lin_drag
	Linear drag.

double	Surf = 0
	Drag Surface.

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

/builds/uwsbel/chrono/src/chrono_models/robot/copters/Copter.h

Description

template<int nop> class chrono::copter::Copter< nop >

Public Member Functions

Protected Attributes

template<int nop>
class chrono::copter::Copter< nop >