RoboSimian part.

A robot part encapsulates a Chrono body with its collision and visualization shapes.

#include <RoboSimian.h>

Inheritance diagram for chrono::robosimian::RS_Part:
Collaboration diagram for chrono::robosimian::RS_Part:

Public Member Functions

 RS_Part (const std::string &name, std::shared_ptr< ChContactMaterial > mat, chrono::ChSystem *system)
const std::string & GetName () const
void SetName (const std::string &name)
void SetVisualizationType (VisualizationType vis)
std::shared_ptr< chrono::ChBodyAuxRefGetBody () const
const chrono::ChVector3dGetPos () const
const chrono::ChQuaternionGetRot () const

Protected Member Functions

void AddVisualizationAssets (VisualizationType vis)
void AddCollisionShapes ()

Protected Attributes

std::string m_name
 subsystem name
std::shared_ptr< chrono::ChBodyAuxRefm_body
 rigid body
std::shared_ptr< ChContactMaterialm_mat
 contact material (shared among all shapes)
std::vector< BoxShape > m_boxes
 set of collision boxes
std::vector< SphereShape > m_spheres
 set of collision spheres
std::vector< CylinderShape > m_cylinders
 set of collision cylinders
std::vector< MeshShape > m_meshes
 set of collision meshes
std::string m_mesh_name
 visualization mesh name
chrono::ChVector3d m_offset
 offset for visualization mesh
chrono::ChColor m_color
 visualization asset color


class RoboSimian
class RS_Limb

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