Description

Little hexy (hexacopter) model.

#include <Little_Hexy.h>

Inheritance diagram for chrono::copter::Little_Hexy:

Collaboration diagram for chrono::copter::Little_Hexy:

Public Member Functions
	Little_Hexy (ChSystem &sys, const ChVector3d &cpos)

void	AddVisualizationAssets ()
	Add specific visualization shapes to shapes and propellers.

void	AddCollisionShapes (std::shared_ptr< ChContactMaterial > material)
	Add collision shapes. More...

void	Pitch_Down (double delta)
	Pitch down by the specified angle.

void	Pitch_Up (double delta)
	Pitch up by the specified angle.

void	Roll_Right (double delta)
	Roll to the right by the specified angle.

void	Roll_Left (double delta)
	Roll to the right by the specified angle.

void	Yaw_Right (double delta)
	Yaw to the right by the specified angle.

void	Yaw_Left (double delta)
	Yaw to the left by the specified angle.

void	Throttle (double delta)
	Increase all propellers speeds. More...

virtual const std::string &	GetChassisMeshFilename () const override
	Get the name of the Wavefront file with chassis visualization mesh. More...

virtual const std::string &	GetPropellerMeshFilename () const override
	Get the name of the Wavefront file with propeller visualization mesh. More...

Public Member Functions inherited from chrono::copter::Copter< 6 >
	Copter (ChSystem &sys, const ChVector3d &cpos, std::vector< ChVector3d > ppos, const bool clockwise[], bool are_prop_pos_rel=true, bool z_up=false)

std::shared_ptr< ChBody >	GetChassis () const
	Get the chassis body.

void	SetPropellerData (double mass, const ChVector3d &inerXX, double diam, double thrust_coeff, double power_coeff, double max_rpm)
	Set the propeller properties. More...

void	SetLinearDragCoeff (double ldc)
	Set the drag coefficient.

double	GetLinearDragCoeff () const
	Get the drag coefficient.

void	SetLinearDragSurf (double dsurf)
	Set the area used in evaluation of drag force.

double	GetLinearDragSurf () const
	Get the area used in evaluation of drag force.

void	AddVisualizationAssets (const std::string &chassismesh, const std::string &propellermesh, const ChFrame<> &cor_m1, const ChFrame<> &cor_m2)
	Add generic triangular meshes to the chassis and the propellers.

void	ControlIncremental (double inputs[nop])
	Increment propeller angular velocity.

void	ControlAbsolute (double inputs[nop])
	Set Propellers angular velocity.

void	Update (double timestep)
	Update the copter internal physics.

void	SetGroundAirDensity (double rho)
	Set initial (h = 0) air density.

double	GetAirPressure () const
	Get the air pressure at copter height.

double	GetGroundAirPressure () const
	Get the air pressure at 0 height.

void	SetGroundPressure (double p0)
	Set the air pressure at copter height.

double	GetGroundAirDensity () const
	Get the air density at copter height.

double	GetAirDensity () const
	Get the air density at copter height.

double	GetAltitude () const
	Get the copter altitude.

double	GetInitAltitude () const
	Get the initial copter altitude.

void	SetInitAltitude (double alt)
	Set the initial copter altitude.

double	GetTemperature () const
	Get air temperature.

void	SetTemperature (double temp)
	Set air temperature.

double	GetGroundTemperature () const
	Get ground air temperature.

void	SetGroundTemperature (double temp)
	Set ground air temperature.

int	GetNumProps () const
	Get the number of propellers.

std::vector< std::shared_ptr< ChBody > >	GetProps () const
	Get the propellers bodies.

void	RotateCopter (ChMatrix33<> &A)
	Rotates the whole copter given a 3x3 rotation matrix.

Static Protected Member Functions
static std::vector< ChVector3d >	getPosVect ()

Additional Inherited Members
Protected Attributes inherited from chrono::copter::Copter< 6 >
std::shared_ptr< ChBody >	chassis
	Chassis body.

std::string	chassis_mesh_path
	Visualization meshes.

std::string	propeller_mesh_path
	Visualization meshes.

std::vector< std::shared_ptr< ChBody > >	props
	Propeller bodies.

double	rps_max
	Max propeller angular speed [rot/s].

double	Dp
	Propeller diameter [m].

double	Ct
	Thrust coefficient.

double	Cp
	Power coefficient.

double	u_p [nop]
	Propeller rotation as fraction of max rpm (in [0,1])

double	rho
	Air density [kg/m^3].

double	rho0
	Ground Air density [kg/m^3].

double	pressure
	Air pressure [Pa].

double	pressure0
	Ground Air pressure [Pa].

double	Altitude
	Altitude [m].

double	Temp0
	Ground Air Temperature [K].

double	Temp
	Air Temperature [K].

double	Altitude0
	Initial Altitude [m].

double	h0
	Initial Altitude in simulation [m].

ChVector3d	up
	Vertical axis.

std::vector< std::shared_ptr< ChForce > >	thrusts
	Thrust Forces.

std::vector< std::shared_ptr< ChForce > >	backtorques
	Propeller Resistance torques.

std::vector< std::shared_ptr< ChLinkMotorRotationSpeed > >	motors
	Propeller Motors.

std::vector< std::shared_ptr< ChFunctionConst > >	speeds
	Propeller Motors Speed Functions.

double	Cd
	Drag coefficient.

std::shared_ptr< ChForce >	lin_drag
	Linear drag.

double	Surf
	Drag Surface.

Member Function Documentation

◆ AddCollisionShapes()

void chrono::copter::Little_Hexy::AddCollisionShapes ( std::shared_ptr< ChContactMaterial > material )

Add collision shapes.

The collision shape is a box + cylinder.

◆ GetChassisMeshFilename()

virtual const std::string& chrono::copter::Little_Hexy::GetChassisMeshFilename ( ) const

inlineoverridevirtual

Get the name of the Wavefront file with chassis visualization mesh.

An empty string is returned if no mesh was specified.

Reimplemented from chrono::copter::Copter< 6 >.

◆ GetPropellerMeshFilename()

virtual const std::string& chrono::copter::Little_Hexy::GetPropellerMeshFilename ( ) const

inlineoverridevirtual

Get the name of the Wavefront file with propeller visualization mesh.

An empty string is returned if no mesh was specified.

Reimplemented from chrono::copter::Copter< 6 >.

◆ Throttle()

void chrono::copter::Little_Hexy::Throttle ( double delta )

Increase all propellers speeds.

Use a negative delta to decrease all.

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

/builds/uwsbel/chrono/src/chrono_models/robot/copters/Little_Hexy.h
/builds/uwsbel/chrono/src/chrono_models/robot/copters/Little_Hexy.cpp

Description

Public Member Functions

Static Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ AddCollisionShapes()

◆ GetChassisMeshFilename()

◆ GetPropellerMeshFilename()

◆ Throttle()