chrono::robosimian Namespace Reference

Description

Namespace with classes for the RoboSimian model.

Namespaces

 CollisionFamily
 RoboSimian collision families.
 
 CollisionFlags
 RoboSimian collision flags (specify which part carries collision shapes).
 

Classes

class  Link
 RoboSimian link. More...
 
class  RoboSimian
 RoboSimian robot model. More...
 
class  RoboSimianIrrApp
 Customized Chrono Irrlicht application for RoboSimian visualization. More...
 
class  RS_Chassis
 RoboSimian chassis (torso). More...
 
class  RS_Driver
 Driver for the RoboSimian robot. More...
 
class  RS_DriverCallback
 Robot driver callback to keep track of average speed and distance between phase changes. More...
 
class  RS_Limb
 RoboSimian limb. More...
 
class  RS_Part
 RoboSimian part. More...
 
class  RS_Sled
 RoboSimian sled (attached to chassis). More...
 
class  RS_WheelDD
 RoboSimian direct-drive wheel. More...
 

Typedefs

typedef std::array< std::array< double, 8 >, 4 > Actuation
 

Enumerations

enum  LimbID { FR = 0, RR = 1, RL = 2, FL = 3 }
 RoboSimian limb identifiers. More...
 
enum  VisualizationType { VisualizationType::NONE, VisualizationType::COLLISION, VisualizationType::MESH }
 Visualization type for a RoboSimian part. More...
 
enum  ActuationMode { ActuationMode::ANGLE, ActuationMode::SPEED }
 RoboSimian actuation modes. More...
 
enum  LocomotionMode { LocomotionMode::WALK, LocomotionMode::SCULL, LocomotionMode::INCHWORM, LocomotionMode::DRIVE }
 RoboSimian locomotion modes. More...
 

Functions

ChQuaternion rpy2quat (const ChVector<> &rpy)
 
ChCoordsys calcJointFrame (const ChFrame<> &base, const ChVector<> &axis)
 
std::shared_ptr< ChMaterialSurfaceDefaultContactMaterial (ChContactMethod contact_method)
 

Variables

const Link FtsLink ("robosim_fts", ChVector<>(0, 0, 0), ChColor(1.0f, 0.0f, 0.0f), 0.0, ChVector<>(0, 0, 0), ChVector<>(0, 0, 0), ChVector<>(0, 0, 0), {})
 
const Link PitchLink ("robosim_pitch_link", ChVector<>(0, 0, 0), ChColor(0.4f, 0.7f, 0.4f), 0.428770, ChVector<>(-0.050402, 0.012816, 0.000000), ChVector<>(0.000670, 0.000955, 0.000726), ChVector<>(0.000062, 0.000000, 0.000000), {CylinderShape(ChVector<>(-0.07, 0, 0), Q_from_AngZ(CH_C_PI_2), 0.055, 0.07)})
 
const Link RollLink ("robosim_roll_link", ChVector<>(0, 0, 0), ChColor(0.7f, 0.4f, 0.4f), 4.078540, ChVector<>(0.066970, -0.090099, -0.000084), ChVector<>(0.010580, 0.025014, 0.031182), ChVector<>(-0.008765, -0.000002, 0.000007), {CylinderShape(ChVector<>(0.065, -0.12, 0), Q_from_AngZ(CH_C_PI_2), 0.055, 0.24), CylinderShape(ChVector<>(0.0, -0.035, 0), QUNIT, 0.055, 0.075)})
 
const Link RollLinkLast ("robosim_roll_link", ChVector<>(0, 0, 0), ChColor(0.7f, 0.4f, 0.4f), 4.078540, ChVector<>(0.066970, -0.090099, -0.000084), ChVector<>(0.010580, 0.025014, 0.031182), ChVector<>(-0.008765, -0.000002, 0.000007), {CylinderShape(ChVector<>(0.105, -0.12, 0), Q_from_AngZ(CH_C_PI_2), 0.055, 0.32), CylinderShape(ChVector<>(0.0, -0.035, 0), QUNIT, 0.055, 0.075)})
 
const Link RollLinkLastWheel ("robosim_roll_link_w_wheel", ChVector<>(0, 0, 0), ChColor(0.7f, 0.4f, 0.4f), 4.078540, ChVector<>(0.066970, -0.090099, -0.000084), ChVector<>(0.010580, 0.025014, 0.031182), ChVector<>(-0.008765, -0.000002, 0.000007), {CylinderShape(ChVector<>(0.105, -0.12, 0), Q_from_AngZ(CH_C_PI_2), 0.055, 0.32), CylinderShape(ChVector<>(0.0, -0.035, 0), QUNIT, 0.055, 0.075), CylinderShape(ChVector<>(0.0, -0.19, 0), QUNIT, 0.080, 0.0375)})
 
const Link FtAdapterLink ("robosim_ft_adapter", ChVector<>(0, 0, 0), ChColor(0.4f, 0.4f, 0.4f), 0.253735, ChVector<>(-0.00531, -0.00060, -0.001873), ChVector<>(0.00042, 0.00024, 0.00023), ChVector<>(0, 0, 0), {})
 
const Link FtLink ("robosim_force_torque_sensor", ChVector<>(0, 0, 0), ChColor(0.4f, 0.4f, 0.4f), 0.195418, ChVector<>(-0.000135, 0.000118, 0.000084), ChVector<>(0.000086, 0.000056, 0.000057), ChVector<>(0, 0, 0), {})
 
const Link WheelMountLink ("robosim_wheel_mount", ChVector<>(0.12024, 0, 0), ChColor(0.4f, 0.7f, 0.4f), 3.1775, ChVector<>(-0.005260, 0.042308, 0.000088), ChVector<>(0.010977, 0.005330, 0.011405), ChVector<>(0.000702, 0.000026, -0.000028), {CylinderShape(ChVector<>(0.12024, 0.02, 0), QUNIT, 0.0545, 0.175)})
 
const Link WheelLink ("robosim_wheel", ChVector<>(0, 0, 0), ChColor(0.6f, 0.6f, 0.6f), 1.499326, ChVector<>(0.0, 0.0, -0.000229), ChVector<>(0.006378, 0.006377, 0.009155), ChVector<>(0, 0, 0), {CylinderShape(ChVector<>(0, 0, 0), Q_from_AngX(CH_C_PI_2), 0.12, 0.123)})
 
const int num_links = 11
 
const LinkData front_links []
 
const LinkData rear_links []
 
const int num_joints = 10
 
const JointData joints []
 

Variable Documentation

◆ front_links

const LinkData chrono::robosimian::front_links[]
Initial value:
= {
{"link0", FtsLink, false},
{"link1", PitchLink, true},
{"link2", RollLink, true},
{"link3", PitchLink, true},
{"link4", RollLink, true},
{"link5", PitchLink, true},
{"link6", RollLinkLast, true},
{"ftadapter_link", FtAdapterLink, true},
{"ft_link", FtLink, true},
{"link7", WheelMountLink, true},
{"link8", WheelLink, true}
}

◆ rear_links

const LinkData chrono::robosimian::rear_links[]
Initial value:
= {
{"link0", FtsLink, false},
{"link1", PitchLink, true},
{"link2", RollLink, true},
{"link3", PitchLink, true},
{"link4", RollLink, true},
{"link5", PitchLink, true},
{"link6", RollLinkLastWheel, true},
{"ftadapter_link", FtAdapterLink, true},
{"ft_link", FtLink, true},
{"link7", WheelMountLink, true},
{"link8", WheelLink, true}
}