chrono::viper::Viper Class Reference
Description
Viper rover class.
This class encapsulates the location and rotation information of all Viper parts wrt the chassis. This class should be the entry point to create a complete rover.
#include <Viper.h>
Public Member Functions | |
| Viper (ChSystem *system, ViperWheelType wheel_type=ViperWheelType::RealWheel) | |
| ChSystem * | GetSystem () const |
| Get the containing system. | |
| void | SetDriver (std::shared_ptr< ViperDriver > driver) |
| Attach a driver system. | |
| void | SetWheelContactMaterial (std::shared_ptr< ChContactMaterial > mat) |
| Set wheel contact material. | |
| void | SetChassisFixed (bool fixed) |
| Fix the chassis to ground. | |
| 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 Viper rover at the specified position. | |
| std::shared_ptr< ViperChassis > | GetChassis () const |
| Get the rover chassis. | |
| std::array< std::shared_ptr< ViperWheel >, 4 > | GetWheels () const |
| Get all rover wheels. | |
| std::shared_ptr< ViperWheel > | GetWheel (ViperWheelID id) const |
| Get the specified rover wheel. | |
| std::shared_ptr< ViperUpright > | GetUpright (ViperWheelID id) const |
| Get the specified rover upright. | |
| std::shared_ptr< ViperUpperArm > | GetUpperArm (ViperWheelID id) const |
| Get the specified rover upper arm. | |
| std::shared_ptr< ViperLowerArm > | GetLowerArm (ViperWheelID id) const |
| Get the specified rover lower arm. | |
| std::shared_ptr< ChShaft > | GetDriveshaft (ViperWheelID 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 (ViperWheelID id) const |
| Get wheel speed. | |
| ChVector3d | GetWheelAngVel (ViperWheelID id) const |
| Get wheel angular velocity. | |
| ChVector3d | GetWheelContactForce (ViperWheelID id) const |
| Get wheel contact force. | |
| ChVector3d | GetWheelContactTorque (ViperWheelID id) const |
| Get wheel contact torque. | |
| ChVector3d | GetWheelAppliedForce (ViperWheelID id) const |
| Get wheel total applied force. | |
| double | GetWheelTracTorque (ViperWheelID id) const |
| Get wheel tractive torque - if DC control set to off. | |
| ChVector3d | GetWheelAppliedTorque (ViperWheelID id) const |
| Get wheel total applied torque. | |
| double | GetRoverMass () const |
| Get total rover mass. | |
| double | GetWheelMass () const |
| Get total wheel mass. | |
| std::shared_ptr< ChFunctionSetpoint > | GetDriveMotorFunc (ViperWheelID id) const |
| Get drive motor function. More... | |
| std::shared_ptr< ChFunctionConst > | GetSteerMotorFunc (ViperWheelID id) const |
| Get steer motor function. | |
| std::shared_ptr< ChLinkMotorRotation > | GetDriveMotor (ViperWheelID id) const |
| Get drive motor. More... | |
| std::shared_ptr< ChLinkMotorRotation > | GetSteerMotor (ViperWheelID id) const |
| Get steer motor. | |
| void | Update () |
| Viper update function. More... | |
Friends | |
| class | ViperDCMotorControl |
Member Function Documentation
◆ GetDriveMotor()
|
inline |
Get drive motor.
This will return an empty pointer if the associated driver uses torque control.
◆ GetDriveMotorFunc()
|
inline |
Get drive motor function.
This will return an empty pointer if the associated driver uses torque control.
◆ Update()
| void chrono::viper::Viper::Update | ( | ) |
Viper 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/viper/Viper.h
- /builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.cpp
