RoboSimian legged robot model

Description

Collaboration diagram for RoboSimian legged robot model:

Namespaces

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

Classes

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

Typedefs

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

Enumerations

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

Enumeration Type Documentation

◆ ActuationMode

RoboSimian actuation modes.

Enumerator
ANGLE 

prescribe time-series for joint angle

SPEED 

prescribe time-series for joint angular speed

◆ LimbID

RoboSimian limb identifiers.

Enumerator
FR 

front right

RR 

rear right

RL 

rear left

FL 

front left

◆ LocomotionMode

RoboSimian locomotion modes.

Enumerator
WALK 

walking

SCULL 

crawl/slide on the sled

INCHWORM 

inchworm-type movement

DRIVE 

driving

◆ VisualizationType

Visualization type for a RoboSimian part.

Enumerator
NONE 

no visualization

COLLISION 

render primitive collision shapes

MESH 

render meshes