chrono::viper::ViperUpright Class Reference
Description
Steering rod of the Viper rover.
The steering rod is connected to the steering cyl, this link is controlled steering. There are two connecting rods on the steering rod, linking to upper and bottom arms of the suspension.
#include <Viper.h>
Inheritance diagram for chrono::viper::ViperUpright:
Collaboration diagram for chrono::viper::ViperUpright:
Public Member Functions | |
| ViperUpright (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
◆ ViperUpright()
| chrono::viper::ViperUpright::ViperUpright | ( | 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:
- /builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.h
- /builds/uwsbel/chrono/src/chrono_models/robot/viper/Viper.cpp
