Description

RoboSimian direct-drive wheel.

Note that this part is not used in the current model.

#include <RoboSimian.h>

Inheritance diagram for chrono::robosimian::RS_WheelDD:

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Collaboration diagram for chrono::robosimian::RS_WheelDD:

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Public Member Functions
	RS_WheelDD (const std::string &name, int id, std::shared_ptr< ChContactMaterial > mat, chrono::ChSystem *system)

void	Initialize (std::shared_ptr< chrono::ChBodyAuxRef > chassis, const chrono::ChVector3d &xyz, const chrono::ChVector3d &rpy)
	Initialize the direct-drive wheel at the specified position (relative to the chassis). More...

Public Member Functions inherited from chrono::robosimian::RS_Part
	RS_Part (const std::string &name, std::shared_ptr< ChContactMaterial > mat, chrono::ChSystem *system)

const std::string &	GetName () const

void	SetName (const std::string &name)

void	SetVisualizationType (VisualizationType vis)

std::shared_ptr< chrono::ChBodyAuxRef >	GetBody () const

const chrono::ChVector3d &	GetPos () const

const chrono::ChQuaternion &	GetRot () const

Additional Inherited Members
Protected Member Functions inherited from chrono::robosimian::RS_Part
void	AddVisualizationAssets (VisualizationType vis)

void	AddCollisionShapes ()

Protected Attributes inherited from chrono::robosimian::RS_Part
std::string	m_name
	subsystem name

std::shared_ptr< chrono::ChBodyAuxRef >	m_body
	rigid body

std::shared_ptr< ChContactMaterial >	m_mat
	contact material (shared among all shapes)

std::vector< BoxShape >	m_boxes
	set of collision boxes

std::vector< SphereShape >	m_spheres
	set of collision spheres

std::vector< CylinderShape >	m_cylinders
	set of collision cylinders

std::vector< MeshShape >	m_meshes
	set of collision meshes

std::string	m_mesh_name
	visualization mesh name

chrono::ChVector3d	m_offset
	offset for visualization mesh

chrono::ChColor	m_color
	visualization asset color

Member Function Documentation

void chrono::robosimian::RS_WheelDD::Initialize	(	std::shared_ptr< chrono::ChBodyAuxRef >	chassis,
		const chrono::ChVector3d &	xyz,
		const chrono::ChVector3d &	rpy
	)

Initialize the direct-drive wheel at the specified position (relative to the chassis).

Parameters

chassis	chassis body
xyz	location (relative to chassis)
rpy	roll-pitch-yaw (relative to chassis)

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