Project Chrono: chrono::robosimian Namespace Reference

Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
chrono::robosimian Namespace Reference

## Description

Namespace with classes for the RoboSimian model.

## Namespaces
namespace | CollisionFamily
| RoboSimian collision families.
namespace | CollisionFlags
| RoboSimian collision flags (specify which part carries collision shapes).

## Classes
class | RS_Part
| RoboSimian part. More...
class | RS_Chassis
| RoboSimian chassis (torso). More...
class | RS_Sled
| RoboSimian sled (attached to chassis). More...
class | RS_WheelDD
| RoboSimian direct-drive wheel. More...
class | Link
| RoboSimian link. More...
class | RS_Limb
| RoboSimian limb. More...
class | RoboSimian
| RoboSimian robot model. More...
class | RS_Driver
| Driver for the RoboSimian robot. More...
class | RS_DriverCallback
| Robot driver callback to keep track of average speed and distance between phase changes. More...
class | RoboSimianVisualSystemIrrlicht
| Customized Chrono Irrlicht visualization system for RoboSimian. More...

## Typedefs
typedef std::array< std::array< double, 8 >, 4 > | Actuation

## Enumerations
enum | LimbID { FR = 0 , RR = 1 , RL = 2 , FL = 3 }
| RoboSimian limb identifiers. More...
enum class | VisualizationType { VisualizationType::NONE , VisualizationType::COLLISION , VisualizationType::MESH }
| Visualization type for a RoboSimian part. More...
enum class | ActuationMode { ActuationMode::ANGLE , ActuationMode::SPEED }
| RoboSimian actuation modes. More...
enum class | LocomotionMode { LocomotionMode::WALK , LocomotionMode::SCULL , LocomotionMode::INCHWORM , LocomotionMode::DRIVE }
| RoboSimian locomotion modes. More...

## Functions
ChQuaternion | rpy2quat (const ChVector3d &rpy)
ChFrame | calcJointFrame (const ChFrame<> &base, const ChVector3d &axis)
std::shared_ptr< ChContactMaterial > | DefaultContactMaterial (ChContactMethod contact_method)

## Variables
const Link | FtsLink ("robosim_fts", ChVector3d(0, 0, 0), ChColor(1.0f, 0.0f, 0.0f), 0.0, ChVector3d(0, 0, 0), ChVector3d(0, 0, 0), ChVector3d(0, 0, 0), {})
const Link | PitchLink ("robosim_pitch_link", ChVector3d(0, 0, 0), ChColor(0.4f, 0.7f, 0.4f), 0.428770, ChVector3d(-0.050402, 0.012816, 0.000000), ChVector3d(0.000670, 0.000955, 0.000726), ChVector3d(0.000062, 0.000000, 0.000000), {CylinderShape(ChVector3d(-0.07, 0, 0), QuatFromAngleY(CH_PI_2), 0.055, 0.07)})
const Link | RollLink ("robosim_roll_link", ChVector3d(0, 0, 0), ChColor(0.7f, 0.4f, 0.4f), 4.078540, ChVector3d(0.066970, -0.090099, -0.000084), ChVector3d(0.010580, 0.025014, 0.031182), ChVector3d(-0.008765, -0.000002, 0.000007), {CylinderShape(ChVector3d(0.065, -0.12, 0), QuatFromAngleY(CH_PI_2), 0.055, 0.24), CylinderShape(ChVector3d(0.0, -0.035, 0), QUNIT, 0.055, 0.075)})
const Link | RollLinkLast ("robosim_roll_link", ChVector3d(0, 0, 0), ChColor(0.7f, 0.4f, 0.4f), 4.078540, ChVector3d(0.066970, -0.090099, -0.000084), ChVector3d(0.010580, 0.025014, 0.031182), ChVector3d(-0.008765, -0.000002, 0.000007), {CylinderShape(ChVector3d(0.105, -0.12, 0), QuatFromAngleY(CH_PI_2), 0.055, 0.32), CylinderShape(ChVector3d(0.0, -0.035, 0), QUNIT, 0.055, 0.075)})
const Link | RollLinkLastWheel ("robosim_roll_link_w_wheel", ChVector3d(0, 0, 0), ChColor(0.7f, 0.4f, 0.4f), 4.078540, ChVector3d(0.066970, -0.090099, -0.000084), ChVector3d(0.010580, 0.025014, 0.031182), ChVector3d(-0.008765, -0.000002, 0.000007), {CylinderShape(ChVector3d(0.105, -0.12, 0), QuatFromAngleY(CH_PI_2), 0.055, 0.32), CylinderShape(ChVector3d(0.0, -0.035, 0), QuatFromAngleX(CH_PI_2), 0.055, 0.075), CylinderShape(ChVector3d(0.0, -0.19, 0), QuatFromAngleX(CH_PI_2), 0.080, 0.0375)})
const Link | FtAdapterLink ("robosim_ft_adapter", ChVector3d(0, 0, 0), ChColor(0.4f, 0.4f, 0.4f), 0.253735, ChVector3d(-0.00531, -0.00060, -0.001873), ChVector3d(0.00042, 0.00024, 0.00023), ChVector3d(0, 0, 0), {})
const Link | FtLink ("robosim_force_torque_sensor", ChVector3d(0, 0, 0), ChColor(0.4f, 0.4f, 0.4f), 0.195418, ChVector3d(-0.000135, 0.000118, 0.000084), ChVector3d(0.000086, 0.000056, 0.000057), ChVector3d(0, 0, 0), {})
const Link | WheelMountLink ("robosim_wheel_mount", ChVector3d(0.12024, 0, 0), ChColor(0.4f, 0.7f, 0.4f), 3.1775, ChVector3d(-0.005260, 0.042308, 0.000088), ChVector3d(0.010977, 0.005330, 0.011405), ChVector3d(0.000702, 0.000026, -0.000028), {CylinderShape(ChVector3d(0.12024, 0.02, 0), QuatFromAngleX(CH_PI_2), 0.0545, 0.175)})
const Link | WheelLink ("robosim_wheel", ChVector3d(0, 0, 0), ChColor(0.6f, 0.6f, 0.6f), 1.499326, ChVector3d(0.0, 0.0, -0.000229), ChVector3d(0.006378, 0.006377, 0.009155), ChVector3d(0, 0, 0), {CylinderShape(ChVector3d(0, 0, 0), QUNIT, 0.12, 0.123)})
const int | num_links = 11
const LinkData | front_links []
const LinkData | rear_links []
const int | num_joints = 10
const JointData | joints []
constexpr int | Robosimian_body_tag = 100

## Variable Documentation

## ◆ front_links

const LinkData chrono::robosimian::front_links[]

Initial value:
= {
{"link0", FtsLink, false},
{"link1", PitchLink, true},
{"link2", RollLink, true},
{"link3", PitchLink, true},
{"link4", RollLink, true},
{"link5", PitchLink, true},
{"link6", RollLinkLast, true},
{"ftadapter_link", FtAdapterLink, true},
{"ft_link", FtLink, true},
{"link7", WheelMountLink, true},
{"link8", WheelLink, true}
}

## ◆ rear_links

const LinkData chrono::robosimian::rear_links[]

Initial value:
= {
{"link0", FtsLink, false},
{"link1", PitchLink, true},
{"link2", RollLink, true},
{"link3", PitchLink, true},
{"link4", RollLink, true},
{"link5", PitchLink, true},
{"link6", RollLinkLastWheel, true},
{"ftadapter_link", FtAdapterLink, true},
{"ft_link", FtLink, true},
{"link7", WheelMountLink, true},
{"link8", WheelLink, true}
}