Base class definition of the Turtlebot Robot Part.

This class encapsulates base fields and functions.

#include <Turtlebot.h>

Inheritance diagram for chrono::turtlebot::Turtlebot_Part:
Collaboration diagram for chrono::turtlebot::Turtlebot_Part:

Public Member Functions

 Turtlebot_Part (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis_body, 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.
std::shared_ptr< ChBodyAuxRefGetBody () const
 Return the ChBody of the corresponding Turtlebot part.
std::shared_ptr< ChBodyAuxRefGetChassis () const
 Return the ChBody of the chassis wrt the Turtlebot part.
const ChVector3dGetPos () const
 Return the Position of the Turtlebot part.
const ChQuaternionGetRot () const
 Return the Rotation of the Turtlebot part.

Protected Member Functions

void AddVisualizationAssets ()
 Initialize the visulization mesh of the Turtlebot part.
void AddCollisionShapes ()
 Initialize the collision mesh of the Turtlebot part.
void EnableCollision (bool state)
 Enable/disable collision.

Protected Attributes

std::string m_name
 subsystem name
std::shared_ptr< ChBodyAuxRefm_body
 rigid body
std::shared_ptr< ChContactMaterialm_mat
 contact material (shared among all shapes)
std::string m_mesh_name
 visualization mesh name
ChVector3d m_offset
 offset for visualization mesh
ChColor m_color
 visualization asset color
 system which Turtlebot Part belongs to
std::shared_ptr< ChBodyAuxRefm_chassis
 the chassis body for the robot
ChVector3d m_pos
 Turtlebot part's relative position wrt the chassis.
ChQuaternion m_rot
 Turtlebot part's relative rotation wrt the chassis.
double m_density
 Turtlebot part's density.
bool m_collide
 Turtlebot part's collision indicator.
bool m_fixed
 Turtlebot part's fixed indication.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/robot/turtlebot/Turtlebot.h
  • /builds/uwsbel/chrono/src/chrono_models/robot/turtlebot/Turtlebot.cpp