Description

The upper arm of the Viper rover suspension.

#include <Viper.h>

Inheritance diagram for chrono::viper::Viper_Up_Arm:

Collaboration diagram for chrono::viper::Viper_Up_Arm:

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Public Member Functions
	Viper_Up_Arm (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, bool collide, const int &side)
	indicate which side of the suspension 0->L, 1->R

void	Initialize ()
	Initialize the upper arm of the suspension at the specified (absolute) position.

void	SetCollide (bool state)
	Enable/disable collision for the upper arm of the suspension.

Public Member Functions inherited from chrono::viper::Viper_Part
	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.

Additional Inherited Members
Protected Member Functions inherited from chrono::viper::Viper_Part
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 inherited from chrono::viper::Viper_Part
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:

Public Member Functions