chrono::robosimian::RS_WheelDD Class Reference


RoboSimian direct-drive wheel.

Note that this part is not used in the current model.

#include <RoboSimian.h>

Inheritance diagram for chrono::robosimian::RS_WheelDD:
Collaboration diagram for chrono::robosimian::RS_WheelDD:

Public Member Functions

 RS_WheelDD (const std::string &name, int id, std::shared_ptr< ChContactMaterial > mat, chrono::ChSystem *system)
void Initialize (std::shared_ptr< chrono::ChBodyAuxRef > chassis, const chrono::ChVector3d &xyz, const chrono::ChVector3d &rpy)
 Initialize the direct-drive wheel at the specified position (relative to the chassis). More...
- Public Member Functions inherited from chrono::robosimian::RS_Part
 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

Additional Inherited Members

- Protected Member Functions inherited from chrono::robosimian::RS_Part
void AddVisualizationAssets (VisualizationType vis)
void AddCollisionShapes ()
- Protected Attributes inherited from chrono::robosimian::RS_Part
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

Member Function Documentation

◆ Initialize()

void chrono::robosimian::RS_WheelDD::Initialize ( std::shared_ptr< chrono::ChBodyAuxRef chassis,
const chrono::ChVector3d xyz,
const chrono::ChVector3d rpy 

Initialize the direct-drive wheel at the specified position (relative to the chassis).

chassischassis body
xyzlocation (relative to chassis)
rpyroll-pitch-yaw (relative to chassis)

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