chrono::robosimian::RS_Limb Class Reference
Description
RoboSimian limb.
A robot limb represents a multibody chain composed of robot links and joints.
#include <RoboSimian.h>
Public Member Functions | |
| RS_Limb (const std::string &name, LimbID id, const LinkData data[], std::shared_ptr< ChContactMaterial > wheel_mat, std::shared_ptr< ChContactMaterial > link_mat, chrono::ChSystem *system) | |
| void | Initialize (std::shared_ptr< chrono::ChBodyAuxRef > chassis, const chrono::ChVector3d &xyz, const chrono::ChVector3d &rpy, CollisionFamily::Enum collision_family, ActuationMode wheel_mode) |
| Initialize the limb at the specified position (relative to the chassis). More... | |
| void | SetVisualizationType (VisualizationType vis) |
| Set visualization type for all limb links. | |
| void | SetCollideLinks (bool state) |
| Enable/disable collision on all links, except final wheel (default: false). | |
| void | SetCollideWheel (bool state) |
| Enable/disable collision for final wheel (default: true). | |
| double | GetMass () const |
| Get the total mass of this limb. | |
| std::shared_ptr< chrono::ChBodyAuxRef > | GetWheelBody () const |
| Get a handle to the wheel body. | |
| const chrono::ChVector3d & | GetWheelPos () const |
| Get location of the wheel body. | |
| chrono::ChVector3d | GetWheelAngVelocity () const |
| Get angular velocity of the wheel body (expressed in local coordinates). | |
| double | GetWheelAngle () const |
| Get wheel angle. | |
| double | GetWheelOmega () const |
| Get wheel angular speed. | |
| double | GetMotorAngle (const std::string &motor_name) const |
| Get angle for specified motor. More... | |
| double | GetMotorOmega (const std::string &motor_name) const |
| Get angular speed for specified motor. More... | |
| double | GetMotorTorque (const std::string &motor_name) const |
| Get actuator reaction torque [Nm] for specified motor. More... | |
| std::array< double, 8 > | GetMotorAngles () |
| Get angles for all 8 limb motors. | |
| std::array< double, 8 > | GetMotorOmegas () |
| Get angular velocities for all 8 limb motors. | |
| std::array< double, 8 > | GetMotorTorques () |
| Get actuator torques for all 8 limb motors. | |
| void | GetMotorActuations (std::array< double, 8 > &angles, std::array< double, 8 > &speeds) |
| Get current motor actuations. | |
| void | Activate (const std::string &motor_name, double time, double val) |
| Set activation for given motor at current time. | |
| void | Activate (double time, const std::array< double, 8 > &vals) |
| Set activations for all motors at current time. | |
Friends | |
| class | RoboSimian |
Constructor & Destructor Documentation
◆ RS_Limb()
| chrono::robosimian::RS_Limb::RS_Limb | ( | const std::string & | name, |
| LimbID | id, | ||
| const LinkData | data[], | ||
| std::shared_ptr< ChContactMaterial > | wheel_mat, | ||
| std::shared_ptr< ChContactMaterial > | link_mat, | ||
| chrono::ChSystem * | system | ||
| ) |
- Parameters
-
name limb name id limb ID data data for limb links wheel_mat contact material for the limb wheel link_mat contact material for the limb links system containing system
Member Function Documentation
◆ GetMotorAngle()
| double chrono::robosimian::RS_Limb::GetMotorAngle | ( | const std::string & | motor_name | ) | const |
Get angle for specified motor.
Motors are named "joint1", "joint2", ... , "joint8", starting at the chassis.
◆ GetMotorOmega()
| double chrono::robosimian::RS_Limb::GetMotorOmega | ( | const std::string & | motor_name | ) | const |
Get angular speed for specified motor.
Motors are named "joint1", "joint2", ... , "joint8", starting at the chassis.
◆ GetMotorTorque()
| double chrono::robosimian::RS_Limb::GetMotorTorque | ( | const std::string & | motor_name | ) | const |
Get actuator reaction torque [Nm] for specified motor.
Motors are named "joint1", "joint2", ... , "joint8", starting at the chassis.
◆ Initialize()
| void chrono::robosimian::RS_Limb::Initialize | ( | std::shared_ptr< chrono::ChBodyAuxRef > | chassis, |
| const chrono::ChVector3d & | xyz, | ||
| const chrono::ChVector3d & | rpy, | ||
| CollisionFamily::Enum | collision_family, | ||
| ActuationMode | wheel_mode | ||
| ) |
Initialize the limb at the specified position (relative to the chassis).
- Parameters
-
chassis chassis body xyz location (relative to chassis) rpy roll-pitch-yaw (relative to chassis) collision_family collision family wheel_mode motor type for wheel actuation
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimian.h
- /builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimian.cpp
