Description

The robot model consists of a chassis (torso) with an attached sled and four limbs (legs).

#include <RoboSimian.h>

Public Member Functions
	RoboSimian (chrono::ChContactMethod contact_method, bool has_sled=false, bool fixed=false)
	Construct a RoboSimian with an implicit Chrono system. More...

	RoboSimian (chrono::ChSystem *system, bool has_sled=false, bool fixed=false)
	Construct a RoboSimian within the specified Chrono system. More...

chrono::ChSystem *	GetSystem ()
	Get the containing system.

void	SetMotorActuationMode (ActuationMode mode)
	Set actuation type for wheel motors (default: SPEED).

void	SetCollide (int flags)
	Set collision flags for the various subsystems. More...

void	SetFrictionCoefficients (float sled_friction, float wheel_friction)
	Set coefficients of friction for sled-terrain and wheel-terrain contacts. More...

void	SetDriver (std::shared_ptr< RS_Driver > driver)
	Attach a driver system.

void	SetVisualizationTypeChassis (VisualizationType vis)
	Set visualization type for chassis subsystem.

void	SetVisualizationTypeSled (VisualizationType vis)
	Set visualization type for sled subsystem.

void	SetVisualizationTypeLimbs (VisualizationType vis)
	Set visualization type for all limb subsystems.

void	SetVisualizationTypeLimb (LimbID id, VisualizationType vis)
	Set visualization type for thr specified limb subsystem.

void	SetVisualizationTypeWheels (VisualizationType vis)
	Set visualization type for all wheel subsystem.

void	SetOutputDirectory (const std::string &outdir, const std::string &root="results")
	Set output directory.

double	GetMass () const
	Get the total mass of the robot.

std::shared_ptr< RS_Chassis >	GetChassis () const
	Get a handle to the robot's chassis subsystem.

std::shared_ptr< chrono::ChBodyAuxRef >	GetChassisBody () const
	Get a handle to the robot's chassis body.

const chrono::ChVector &	GetChassisPos () const
	Get location of the chassis body.

const chrono::ChQuaternion &	GetChassisRot () const
	Get orientation of the chassis body.

std::shared_ptr< RS_Sled >	GetSled () const
	Get a handle to the robot's sled subsystem.

std::shared_ptr< chrono::ChBodyAuxRef >	GetSledBody () const
	Get a handle to the robot's sled body.

std::shared_ptr< RS_Limb >	GetLimb (LimbID id) const
	Get a handle to the robot's specified limb subsystem.

std::shared_ptr< chrono::ChBodyAuxRef >	GetWheelBody (LimbID id) const
	Get a handle to the wheel body for the specified limb.

const chrono::ChVector &	GetWheelPos (LimbID id) const
	Get location of the wheel body for the specified limb.

chrono::ChVector	GetWheelAngVelocity (LimbID id) const
	Get angular velocity of the wheel body for the specified limb (expressed in local coordinates).

double	GetWheelAngle (LimbID id) const
	Get wheel angle for the specified limb.

double	GetWheelOmega (LimbID id) const
	Get wheel angular speed for the specified limb.

std::array< double, 8 >	GetMotorAngles (LimbID id)
	Get angles for all 8 limb motors.

std::array< double, 8 >	GetMotorOmegas (LimbID id)
	Get angular velocities for all 8 limb motors.

std::array< double, 8 >	GetMotorTorques (LimbID id)
	Get actuator torques for all 8 limb motors.

std::shared_ptr< ChMaterialSurface >	GetChassisContactMaterial ()
	Access the chassis contact material.

std::shared_ptr< ChMaterialSurface >	GetSledContactMaterial ()
	Access the sled contact material.

std::shared_ptr< ChMaterialSurface >	GetWheelContactMaterial ()
	Access the wheel contact material. Note that this material is shared by all wheels.

std::shared_ptr< ChMaterialSurface >	GetWheelDDContactMaterial ()
	Access the wheelDD contact material. Note that this material is shared by all DD wheels.

std::shared_ptr< ChMaterialSurface >	GetLinkContactMaterial ()
	Access the link contact material. Note that this material is shared by all non-wheel links.

void	Initialize (const chrono::ChCoordsys<> &pos)
	Initialize the robot at the specified chassis position and orientation.

void	Activate (LimbID id, const std::string &motor_name, double time, double val)
	Directly activate the specified motor on the specified limb.

void	DoStepDynamics (double step)
	Advance dynamics of underlying system. More...

void	Translate (const chrono::ChVector<> &shift)
	Translate all robot bodies by the specified value.

void	Output ()
	Output current data.

void	ReportContacts ()
	Report current contacts for all robot parts.

Friends
class	ContactMaterial

Constructor & Destructor Documentation

◆ RoboSimian() [1/2]

chrono::robosimian::RoboSimian::RoboSimian	(	chrono::ChContactMethod	contact_method,
		bool	has_sled = `false`,
		bool	fixed = `false`
	)

Construct a RoboSimian with an implicit Chrono system.

Parameters

contact_method	contact formulation (SMC or NSC)
has_sled	true if robot has sled body attached to chassis
fixed	true if robot chassis fixed to ground

◆ RoboSimian() [2/2]

chrono::robosimian::RoboSimian::RoboSimian	(	chrono::ChSystem *	system,
		bool	has_sled = `false`,
		bool	fixed = `false`
	)

Construct a RoboSimian within the specified Chrono system.

Parameters

system	containing system
has_sled	true if robot has sled body attached to chassis
fixed	true if robot chassis fixed to ground

Member Function Documentation

◆ DoStepDynamics()

void chrono::robosimian::RoboSimian::DoStepDynamics ( double step )

Advance dynamics of underlying system.

If a driver system is specified, apply motor actuations at current time.

◆ SetCollide()

void chrono::robosimian::RoboSimian::SetCollide ( int flags )

Set collision flags for the various subsystems.

By default, collision is enabled for the sled and wheels only. The 'flags' argument can be any of the CollisionFlag enums, or a combination thereof (using bit-wise operators).

◆ SetFrictionCoefficients()

void chrono::robosimian::RoboSimian::SetFrictionCoefficients	(	float	sled_friction,
		float	wheel_friction
	)

Set coefficients of friction for sled-terrain and wheel-terrain contacts.

Default values: 0.8.

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

/builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimian.h
/builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimian.cpp