Project Chrono: chrono::viper::ViperLowerArm Class Reference

Public Member Functions | List of all members
chrono::viper::ViperLowerArm Class Reference
Models » Robot models » Viper moon rover model

## Description

The bottom arm of the Viper rover suspension.

`#include <Viper.h>`

Inheritance diagram for chrono::viper::ViperLowerArm:
[legend]
Collaboration diagram for chrono::viper::ViperLowerArm:
[legend]

## Public Member Functions
| ViperLowerArm (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.
const ChQuaternion & | GetRot () const
| Return the rotation of the Viper part.
const ChVector3d & | GetLinVel () const
| Return the linear velocity of the Viper part.
const ChVector3d | GetAngVel () const
| Return the angular velocity of the Viper part.
const ChVector3d & | GetLinAcc () const
| Return the linear acceleration of the Viper part.
const ChVector3d | GetAngAcc () const
| Return the angular acceleratino of the Viper part.

## 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

## ◆ ViperLowerArm()

chrono::viper::ViperLowerArm::ViperLowerArm | ( | 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:

- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/viper/Viper.h
- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/viper/Viper.cpp