Description

The upper arm of the Viper rover suspension.

#include <Viper.h>

Inheritance diagram for chrono::viper::ViperUpperArm:

Collaboration diagram for chrono::viper::ViperUpperArm:

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Public Member Functions
	ViperUpperArm (const std::string &name, const ChFrame<> &rel_pos, std::shared_ptr< ChContactMaterial > mat, const int &side)

Public Member Functions inherited from chrono::viper::ViperPart
	ViperPart (const std::string &name, const ChFrame<> &rel_pos, std::shared_ptr< ChContactMaterial > mat, bool collide)

const std::string &	GetName () const
	Return the name of the part.

void	SetName (const std::string &name)
	Set the name of the part.

void	SetVisualize (bool state)
	Enable/disable visualization.

void	EnableCollision (bool state)
	Enable/disable collision.

void	Initialize (std::shared_ptr< ChBodyAuxRef > chassis)
	Initialize the rover part by attaching it to the specified chassis body.

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Return the ChBody of the corresponding Viper part.

const ChVector3d &	GetPos () const
	Return the position of the Viper part. More...

const ChQuaternion &	GetRot () const
	Return the rotation of the Viper part. More...

const ChVector3d &	GetLinVel () const
	Return the linear velocity of the Viper part. More...

const ChVector3d	GetAngVel () const
	Return the angular velocity of the Viper part. More...

const ChVector3d &	GetLinAcc () const
	Return the linear acceleration of the Viper part. More...

const ChVector3d	GetAngAcc () const
	Return the angular acceleratino of the Viper part. More...

Additional Inherited Members
Protected Member Functions inherited from chrono::viper::ViperPart
void	CalcMassProperties (double density)
	Utility function for calculating mass properties using the part's collision mesh.

void	Construct (ChSystem *system)
	Construct the part body.

Protected Attributes inherited from chrono::viper::ViperPart
std::string	m_name
	part name

std::shared_ptr< ChBodyAuxRef >	m_body
	part rigid body

std::shared_ptr< ChContactMaterial >	m_mat
	contact material

std::string	m_mesh_name
	visualization mesh name

ChFrame	m_mesh_xform
	mesh transform (translate, rotate, scale)

ChColor	m_color
	visualization asset color

ChFrame	m_pos
	relative position wrt the chassis

double	m_mass
	mass

ChVector3d	m_inertia
	principal moments of inertia

ChFrame	m_cog
	COG frame (relative to body frame)

bool	m_visualize
	part visualization flag

bool	m_collide
	part collision flag

Constructor & Destructor Documentation

chrono::viper::ViperUpperArm::ViperUpperArm	(	const std::string &	name,
		const ChFrame<> &	rel_pos,
		std::shared_ptr< ChContactMaterial >	mat,
		const int &	side
	)

Parameters

name	part name
rel_pos	position relative to chassis frame
mat	contact material
side	vehicle side 0: L, 1: R

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