Description

Base class definition of the Viper Rover Part.

Viper Rover Parts include Chassis, Steering, Upper Suspension Arm, Bottom Suspension Arm and Wheel. This class encapsulates base fields and functions.

#include <Viper.h>

Inheritance diagram for chrono::viper::Viper_Part:

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Collaboration diagram for chrono::viper::Viper_Part:

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Public Member Functions
	Viper_Part (const std::string &name, bool fixed, std::shared_ptr< ChMaterialSurface > mat, ChSystem *system, const ChVector<> &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis_body, bool collide)

const std::string &	GetName () const
	Return the name of the part.

void	SetName (const std::string &name)
	Set the name of the part.

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Return the ChBody of the corresponding Viper part.

std::shared_ptr< ChBodyAuxRef >	GetChassis () const
	Return the ChBody of the chassis wrt the Viper part.

const ChVector &	GetPos () const
	Return the Position of the Viper part.

const ChQuaternion &	GetRot () const
	Return the Rotation of the Viper part.

Protected Member Functions
void	AddVisualizationAssets ()
	Initialize the visulization mesh of the Viper part.

void	AddCollisionShapes ()
	Initialize the collision mesh of the Viper part.

void	SetCollide (bool state)
	Enable/disable collision.

Protected Attributes
std::string	m_name
	subsystem name

std::shared_ptr< ChBodyAuxRef >	m_body
	rigid body

std::shared_ptr< ChMaterialSurface >	m_mat
	contact material (shared among all shapes)

std::string	m_mesh_name
	visualization mesh name

ChVector	m_offset
	offset for visualization mesh

ChColor	m_color
	visualization asset color

ChSystem *	m_system
	system which Viper Part belongs to

std::shared_ptr< ChBodyAuxRef >	m_chassis
	the chassis body for the rover

ChVector	m_pos
	Viper part's relative position wrt the chassis.

ChQuaternion	m_rot
	Viper part's relative rotation wrt the chassis.

double	m_density
	Viper part's density.

bool	m_collide
	Viper part's collision indicator.

bool	m_fixed
	Viper part's fixed indication.

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

/builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.h
/builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes