chrono::curiosity::CuriosityChassis Class Reference


Curiosity rover Chassis.

#include <Curiosity.h>

Inheritance diagram for chrono::curiosity::CuriosityChassis:
Collaboration diagram for chrono::curiosity::CuriosityChassis:

Public Member Functions

 CuriosityChassis (const std::string &name, CuriosityChassisType chassis_type, std::shared_ptr< ChContactMaterial > mat)
void Initialize (ChSystem *system, const ChFrame<> &pos)
 Initialize the chassis at the specified (absolute) position.
- Public Member Functions inherited from chrono::curiosity::CuriosityPart
 CuriosityPart (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.
std::shared_ptr< ChBodyAuxRefGetBody () const
 Return the ChBody of the corresponding Curiosity part.
const ChVector3dGetPos () const
 Return the position of the Curiosity part. More...
const ChQuaternionGetRot () const
 Return the rotation of the Curiosity part. More...
const ChVector3dGetLinVel () const
 Return the linear velocity of the Curiopsity part. More...
const ChVector3d GetAngVel () const
 Return the angular velocity of the Curiosity part. More...
const ChVector3dGetLinAcc () const
 Return the linear acceleration of the Curiosity part. More...
const ChVector3d GetAngAcc () const
 Return the angular acceleratino of the Curiosity part. More...
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis)
 Initialize the rover part by attaching it to the specified chassis body.

Additional Inherited Members

- Protected Member Functions inherited from chrono::curiosity::CuriosityPart
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::curiosity::CuriosityPart
std::string m_name
 subsystem name
std::shared_ptr< ChBodyAuxRefm_body
 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
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
 Curiosity part's collision indicator.

Constructor & Destructor Documentation

◆ CuriosityChassis()

chrono::curiosity::CuriosityChassis::CuriosityChassis ( const std::string &  name,
CuriosityChassisType  chassis_type,
std::shared_ptr< ChContactMaterial mat 
namepart name
chassis_typechassis type
matcontact material

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