Description

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
 

Friends

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