Project Chrono: chrono::curiosity::CuriosityChassis Class Reference

Public Member Functions | List of all members
chrono::curiosity::CuriosityChassis Class Reference
Models » Robot models » Curiosity Mars rover model

## Description

Curiosity rover Chassis.

`#include <Curiosity.h>`

Inheritance diagram for chrono::curiosity::CuriosityChassis:
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Collaboration diagram for chrono::curiosity::CuriosityChassis:
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## Public Member Functions
| CuriosityChassis (const std::string &name, CuriosityChassisType chassis_type, std::shared_ptr< ChContactMaterial > mat)
void | Initialize (ChSystem *system, const ChFrame<> &pos)
| Initialize the chassis at the specified (absolute) position.
Public Member Functions inherited from chrono::curiosity::CuriosityPart
| CuriosityPart (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.
std::shared_ptr< ChBodyAuxRef > | GetBody () const
| Return the ChBody of the corresponding Curiosity part.
const ChVector3d & | GetPos () const
| Return the position of the Curiosity part.
const ChQuaternion & | GetRot () const
| Return the rotation of the Curiosity part.
const ChVector3d & | GetLinVel () const
| Return the linear velocity of the Curiopsity part.
const ChVector3d | GetAngVel () const
| Return the angular velocity of the Curiosity part.
const ChVector3d & | GetLinAcc () const
| Return the linear acceleration of the Curiosity part.
const ChVector3d | GetAngAcc () const
| Return the angular acceleratino of the Curiosity part.
virtual void | Initialize (std::shared_ptr< ChBodyAuxRef > chassis)
| Initialize the rover part by attaching it to the specified chassis body.

## Additional Inherited Members
Protected Member Functions inherited from chrono::curiosity::CuriosityPart
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::curiosity::CuriosityPart
std::string | m_name
| subsystem name
std::shared_ptr< ChBodyAuxRef > | m_body
| 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
| Curiosity part's collision indicator.

## Constructor & Destructor Documentation

## ◆ CuriosityChassis()

chrono::curiosity::CuriosityChassis::CuriosityChassis | ( | const std::string & | name,
|  | CuriosityChassisType | chassis_type,
|  | std::shared_ptr< ChContactMaterial > | mat )

Parameters

  name | part name
  chassis_type | chassis type
  mat | contact material

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

- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/curiosity/Curiosity.h
- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/curiosity/Curiosity.cpp