chrono::viper::ViperPart Class Reference

Description

Base class definition for all Viper parts.

Viper Rover Parts include Chassis, Steering, Upper Suspension Arm, Bottom Suspension Arm and Wheel.

#include <Viper.h>

Inheritance diagram for chrono::viper::ViperPart:

Collaboration diagram for chrono::viper::ViperPart:

Public Member Functions
	ViperPart (const std::string &name, const ChFrame<> &rel_pos, std::shared_ptr< ChContactMaterial > mat, 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.
void	SetVisualize (bool state)
	Enable/disable visualization.
void	EnableCollision (bool state)
	Enable/disable collision.
void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis)
	Initialize the rover part by attaching it to the specified chassis body.
std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Return the ChBody of the corresponding Viper part.
const ChVector3d &	GetPos () const
	Return the position of the Viper part. More...
const ChQuaternion &	GetRot () const
	Return the rotation of the Viper part. More...
const ChVector3d &	GetLinVel () const
	Return the linear velocity of the Viper part. More...
const ChVector3d	GetAngVel () const
	Return the angular velocity of the Viper part. More...
const ChVector3d &	GetLinAcc () const
	Return the linear acceleration of the Viper part. More...
const ChVector3d	GetAngAcc () const
	Return the angular acceleratino of the Viper part. More...

Protected Member Functions
void	CalcMassProperties (double density)
	Utility function for calculating mass properties using the part's collision mesh.
void	Construct (ChSystem *system)
	Construct the part body.

Protected Attributes
std::string	m_name
	part name
std::shared_ptr< ChBodyAuxRef >	m_body
	part rigid body
std::shared_ptr< ChContactMaterial >	m_mat
	contact material
std::string	m_mesh_name
	visualization mesh name
ChFrame	m_mesh_xform
	mesh transform (translate, rotate, scale)
ChColor	m_color
	visualization asset color
ChFrame	m_pos
	relative position wrt the chassis
double	m_mass
	mass
ChVector3d	m_inertia
	principal moments of inertia
ChFrame	m_cog
	COG frame (relative to body frame)
bool	m_visualize
	part visualization flag
bool	m_collide
	part collision flag

Constructor & Destructor Documentation

ViperPart()

chrono::viper::ViperPart::ViperPart	(	const std::string &	name,
		const ChFrame<> &	rel_pos,
		std::shared_ptr< ChContactMaterial >	mat,
		bool	collide
	)

Parameters

name	part name
rel_pos	position relative to chassis frame
mat	contact material
collide	enable collision?

Member Function Documentation

GetAngAcc()

const ChVector3d chrono::viper::ViperPart::GetAngAcc ( ) const

inline

Return the angular acceleratino of the Viper part.

This is the absolute angular acceleratin of the part reference frame.

GetAngVel()

const ChVector3d chrono::viper::ViperPart::GetAngVel ( ) const

inline

Return the angular velocity of the Viper part.

This is the absolute angular velocity of the part reference frame.

GetLinAcc()

const ChVector3d& chrono::viper::ViperPart::GetLinAcc ( ) const

inline

Return the linear acceleration of the Viper part.

This is the absolute linear acceleration of the part reference frame.

GetLinVel()

const ChVector3d& chrono::viper::ViperPart::GetLinVel ( ) const

inline

Return the linear velocity of the Viper part.

This is the absolute linear velocity of the part reference frame.

GetPos()

const ChVector3d& chrono::viper::ViperPart::GetPos ( ) const

inline

Return the position of the Viper part.

This is the absolute location of the part reference frame.

GetRot()

const ChQuaternion& chrono::viper::ViperPart::GetRot ( ) const

inline

Return the rotation of the Viper part.

This is the orientation wrt the global frame of the part reference frame.

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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