chrono::curiosity::Curiosity Class Reference
Description
Curiosity rover class.
This class encapsulates the location and rotation information of all Curiosity parts wrt the chassis. This class should be the entry point to create a complete rover.
#include <Curiosity.h>
Public Member Functions | |
| Curiosity (ChSystem *system, CuriosityChassisType chassis_type=CuriosityChassisType::FullRover, CuriosityWheelType wheel_type=CuriosityWheelType::RealWheel) | |
| ChSystem * | GetSystem () |
| Get the containing system. | |
| void | SetDriver (std::shared_ptr< CuriosityDriver > driver) |
| Set the curiosity driver. | |
| void | SetWheelContactMaterial (std::shared_ptr< ChContactMaterial > mat) |
| Set wheel contact material. | |
| void | FixChassis (bool fixed) |
| Fix the chassis to ground. More... | |
| void | FixSuspension (bool fixed) |
| Fix the suspension joints. More... | |
| void | SetChassisVisualization (bool state) |
| Enable/disable visualization of the rover chassis (default: true). | |
| void | SetWheelVisualization (bool state) |
| Enable/disable visualization of rover wheels (default: true). | |
| void | SetSuspensionVisualization (bool state) |
| Enable/disable visualization of rover suspensions (default: true). | |
| void | Initialize (const ChFrame<> &pos) |
| Initialize the Curiosity rover at the specified position. | |
| void | Update () |
| General control update function. More... | |
| std::shared_ptr< CuriosityChassis > | GetChassis () const |
| Get the rover chassis. | |
| std::shared_ptr< CuriosityWheel > | GetWheel (CuriosityWheelID id) const |
| Get the specified rover wheel. | |
| std::array< std::shared_ptr< CuriosityWheel >, 6 > | GetWheels () const |
| Get all rover wheels. | |
| std::shared_ptr< ChShaft > | GetDriveshaft (CuriosityWheelID id) const |
| Get the specified rover driveshaft. | |
| ChVector3d | GetChassisPos () const |
| Get chassis position. | |
| ChQuaternion | GetChassisRot () const |
| Get chassis orientation. | |
| ChVector3d | GetChassisVel () const |
| Get chassis linear velocity. | |
| ChVector3d | GetChassisAcc () const |
| Get chassis linear acceleration. | |
| ChVector3d | GetWheelLinVel (CuriosityWheelID id) const |
| Get wheel speed. | |
| ChVector3d | GetWheelAngVel (CuriosityWheelID id) const |
| Get wheel angular velocity. | |
| ChVector3d | GetWheelContactForce (CuriosityWheelID id) const |
| Get wheel contact force. | |
| ChVector3d | GetWheelContactTorque (CuriosityWheelID id) const |
| Get wheel contact torque. | |
| ChVector3d | GetWheelAppliedForce (CuriosityWheelID id) const |
| Get wheel total applied force. | |
| ChVector3d | GetWheelAppliedTorque (CuriosityWheelID id) const |
| Get wheel total applied torque. | |
| double | GetWheelTracTorque (CuriosityWheelID id) const |
| Get wheel tractive torque - if DC control is set to off. | |
| double | GetRoverMass () const |
| Get total rover mass. | |
| double | GetWheelMass () const |
| Get total wheel mass. | |
| std::shared_ptr< ChFunctionSetpoint > | GetDriveMotorFunc (CuriosityWheelID id) const |
| Get drive motor function. | |
| std::shared_ptr< ChFunctionConst > | GetRockerSteerMotorFunc (int side) const |
| Get rocker steer motor function (side: 0 for left and 1 for right). | |
| std::shared_ptr< ChFunctionConst > | GetBogieSteerMotorFunc (int side) const |
| Get bogie steer motor function (side: 0 for left and 1 for right). | |
| std::shared_ptr< ChLinkMotorRotation > | GetDriveMotor (CuriosityWheelID id) const |
| Get drive motor. | |
| std::shared_ptr< ChLinkMotorRotation > | GetRockerSteerMotor (int side) const |
| Get rocker steer motor (side: 0 for left and 1 for right). | |
| std::shared_ptr< ChLinkMotorRotation > | GetBogieSteerMotor (int side) const |
| Get bogie steer motor (side: 0 for left and 1 for right). | |
Friends | |
| class | CuriosityDCMotorControl |
Member Function Documentation
◆ FixChassis()
| void chrono::curiosity::Curiosity::FixChassis | ( | bool | fixed | ) |
Fix the chassis to ground.
This function can only be invoked after the call to Initialize().
◆ FixSuspension()
| void chrono::curiosity::Curiosity::FixSuspension | ( | bool | fixed | ) |
Fix the suspension joints.
This function can only be invoked after the call to Initialize().
◆ Update()
| void chrono::curiosity::Curiosity::Update | ( | ) |
General control update function.
This function must be called before each integration step.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/robot/curiosity/Curiosity.h
- /builds/uwsbel/chrono/src/chrono_models/robot/curiosity/Curiosity.cpp
