Description

Curiosity rover Chassis.

#include <Curiosity.h>

Inheritance diagram for chrono::curiosity::CuriosityChassis:

Collaboration diagram for chrono::curiosity::CuriosityChassis:

[legend]

Public Member Functions
	CuriosityChassis (const std::string &name, CuriosityChassisType chassis_type, std::shared_ptr< ChMaterialSurface > mat)

void	Initialize (ChSystem *system, const ChFrame<> &pos)
	Initialize the chassis at the specified (absolute) position.

Public Member Functions inherited from chrono::curiosity::CuriosityPart
	CuriosityPart (const std::string &name, const ChFrame<> &rel_pos, std::shared_ptr< ChMaterialSurface > mat, 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.

void	SetVisualize (bool state)
	Enable/disable visualization.

void	SetCollide (bool state)
	Enable/disable collision.

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

const ChVector &	GetPos () const
	Return the position of the Curiosity part. More...

const ChQuaternion &	GetRot () const
	Return the rotation of the Curiosity part. More...

const ChVector &	GetLinVel () const
	Return the linear velocity of the Curiopsity part. More...

const ChVector	GetAngVel () const
	Return the angular velocity of the Curiosity part. More...

const ChVector &	GetLinAcc () const
	Return the linear acceleration of the Curiosity part. More...

const ChVector	GetAngAcc () const
	Return the angular acceleratino of the Curiosity part. More...

virtual void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis)
	Initialize the rover part by attaching it to the specified chassis body.

Additional Inherited Members
Protected Member Functions inherited from chrono::curiosity::CuriosityPart
void	CalcMassProperties (double density)
	Utility function for calculating mass properties using the part's collision mesh.

void	Construct (ChSystem *system)
	Construct the part body.

Protected Attributes inherited from chrono::curiosity::CuriosityPart
std::string	m_name
	subsystem name

std::shared_ptr< ChBodyAuxRef >	m_body
	rigid body

std::shared_ptr< ChMaterialSurface >	m_mat
	contact material

std::string	m_mesh_name
	visualization mesh name

ChFrame	m_mesh_xform
	mesh transform (translate, rotate, scale)

ChColor	m_color
	visualization asset color

ChFrame	m_pos
	relative position wrt the chassis

double	m_mass
	mass

ChVector	m_inertia
	principal moments of inertia

ChFrame	m_cog
	COG frame (relative to body frame)

bool	m_visualize
	part visualization flag

bool	m_collide
	Curiosity part's collision indicator.

Constructor & Destructor Documentation

chrono::curiosity::CuriosityChassis::CuriosityChassis	(	const std::string &	name,
		CuriosityChassisType	chassis_type,
		std::shared_ptr< ChMaterialSurface >	mat
	)

Parameters

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