Description

Turtlebot Active Drive Wheel class definition.

#include <Turtlebot.h>

Inheritance diagram for chrono::turtlebot::Turtlebot_ActiveWheel:

Collaboration diagram for chrono::turtlebot::Turtlebot_ActiveWheel:

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Public Member Functions
	Turtlebot_ActiveWheel (const std::string &name, bool fixed, std::shared_ptr< ChMaterialSurface > mat, ChSystem *system, const ChVector<> &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide)

void	Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	SetCollide (bool state)
	Enable/disable collision for the wheel.

Public Member Functions inherited from chrono::turtlebot::Turtlebot_Part
	Turtlebot_Part (const std::string &name, bool fixed, std::shared_ptr< ChMaterialSurface > mat, ChSystem *system, const ChVector<> &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis_body, 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.

std::shared_ptr< ChBodyAuxRef >	GetBody () const
	Return the ChBody of the corresponding Turtlebot part.

std::shared_ptr< ChBodyAuxRef >	GetChassis () const
	Return the ChBody of the chassis wrt the Turtlebot part.

const ChVector &	GetPos () const
	Return the Position of the Turtlebot part.

const ChQuaternion &	GetRot () const
	Return the Rotation of the Turtlebot part.

Additional Inherited Members
Protected Member Functions inherited from chrono::turtlebot::Turtlebot_Part
void	AddVisualizationAssets ()
	Initialize the visulization mesh of the Turtlebot part.

void	AddCollisionShapes ()
	Initialize the collision mesh of the Turtlebot part.

void	SetCollide (bool state)
	Enable/disable collision.

Protected Attributes inherited from chrono::turtlebot::Turtlebot_Part
std::string	m_name
	subsystem name

std::shared_ptr< ChBodyAuxRef >	m_body
	rigid body

std::shared_ptr< ChMaterialSurface >	m_mat
	contact material (shared among all shapes)

std::string	m_mesh_name
	visualization mesh name

ChVector	m_offset
	offset for visualization mesh

ChColor	m_color
	visualization asset color

ChSystem *	m_system
	system which Turtlebot Part belongs to

std::shared_ptr< ChBodyAuxRef >	m_chassis
	the chassis body for the robot

ChVector	m_pos
	Turtlebot part's relative position wrt the chassis.

ChQuaternion	m_rot
	Turtlebot part's relative rotation wrt the chassis.

double	m_density
	Turtlebot part's density.

bool	m_collide
	Turtlebot part's collision indicator.

bool	m_fixed
	Turtlebot part's fixed indication.

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

Public Member Functions