Description

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

#include <RoboSimian.h>

Inheritance diagram for chrono::robosimian::RS_Part:

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Collaboration diagram for chrono::robosimian::RS_Part:

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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::ChBodyAuxRef >	GetBody () const

const chrono::ChVector3d &	GetPos () const

const chrono::ChQuaternion &	GetRot () const

Protected Member Functions
void	AddVisualizationAssets (VisualizationType vis)

void	AddCollisionShapes ()

Protected Attributes
std::string	m_name
	subsystem name

std::shared_ptr< chrono::ChBodyAuxRef >	m_body
	rigid body

std::shared_ptr< ChContactMaterial >	m_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

The documentation for this class was generated from the following files:

Public Member Functions