chrono::robosimian::RS_Part Class Reference

Description

RoboSimian part.

A robot part encapsulates a Chrono body with its collision and visualization shapes.

#include <RoboSimian.h>

Inheritance diagram for chrono::robosimian::RS_Part:

Collaboration diagram for chrono::robosimian::RS_Part:

Public Member Functions
	RS_Part (const std::string &name, std::shared_ptr< ChContactMaterial > mat, chrono::ChSystem *system)
const std::string &	GetName () const
void	SetName (const std::string &name)
void	SetVisualizationType (VisualizationType vis)
std::shared_ptr< chrono::ChBodyAuxRef >	GetBody () const
const chrono::ChVector3d &	GetPos () const
const chrono::ChQuaternion &	GetRot () const

Protected Member Functions
void	AddVisualizationAssets (VisualizationType vis)
void	AddCollisionShapes ()

Protected Attributes
std::string	m_name
	subsystem name
std::shared_ptr< chrono::ChBodyAuxRef >	m_body
	rigid body
std::shared_ptr< ChContactMaterial >	m_mat
	contact material (shared among all shapes)
std::vector< BoxShape >	m_boxes
	set of collision boxes
std::vector< SphereShape >	m_spheres
	set of collision spheres
std::vector< CylinderShape >	m_cylinders
	set of collision cylinders
std::vector< MeshShape >	m_meshes
	set of collision meshes
std::string	m_mesh_name
	visualization mesh name
chrono::ChVector3d	m_offset
	offset for visualization mesh
chrono::ChColor	m_color
	visualization asset color

Friends
class	RoboSimian
class	RS_Limb

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

• D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/robosimian/RoboSimian.h
• D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/robosimian/RoboSimian.cpp