chrono::viper::ViperUpperArm Class Reference

Description

The upper arm of the Viper rover suspension.

#include <Viper.h>

Inheritance diagram for chrono::viper::ViperUpperArm:
Collaboration diagram for chrono::viper::ViperUpperArm:

Public Member Functions

 ViperUpperArm (const std::string &name, const ChFrame<> &rel_pos, std::shared_ptr< ChContactMaterial > mat, const int &side)
 
- Public Member Functions inherited from chrono::viper::ViperPart
 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< ChBodyAuxRefGetBody () const
 Return the ChBody of the corresponding Viper part.
 
const ChVector3dGetPos () const
 Return the position of the Viper part. More...
 
const ChQuaternionGetRot () const
 Return the rotation of the Viper part. More...
 
const ChVector3dGetLinVel () const
 Return the linear velocity of the Viper part. More...
 
const ChVector3d GetAngVel () const
 Return the angular velocity of the Viper part. More...
 
const ChVector3dGetLinAcc () const
 Return the linear acceleration of the Viper part. More...
 
const ChVector3d GetAngAcc () const
 Return the angular acceleratino of the Viper part. More...
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::viper::ViperPart
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 inherited from chrono::viper::ViperPart
std::string m_name
 part name
 
std::shared_ptr< ChBodyAuxRefm_body
 part rigid body
 
std::shared_ptr< ChContactMaterialm_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

◆ ViperUpperArm()

chrono::viper::ViperUpperArm::ViperUpperArm ( const std::string &  name,
const ChFrame<> &  rel_pos,
std::shared_ptr< ChContactMaterial mat,
const int &  side 
)
Parameters
namepart name
rel_posposition relative to chassis frame
matcontact material
sidevehicle side 0: L, 1: R

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