Description

Collaboration diagram for Turtlebot robot model:

Namespaces
	chrono::turtlebot::CollisionFamily
	Turtlebot collision families.

Classes
class	chrono::turtlebot::Turtlebot_Part
	Base class definition of the Turtlebot Robot Part. More...

class	chrono::turtlebot::Turtlebot_Chassis
	Turtlebot Chassis class definition. More...

class	chrono::turtlebot::Turtlebot_ActiveWheel
	Turtlebot Active Drive Wheel class definition. More...

class	chrono::turtlebot::Turtlebot_PassiveWheel
	Turtlebot Passive Driven Wheel class definition. More...

class	chrono::turtlebot::Turtlebot_Rod_Short
	Short Supporting Rod class definition. More...

class	chrono::turtlebot::Turtlebot_BottomPlate
	Turtlebot Bottom Plate class definition. More...

class	chrono::turtlebot::Turtlebot_MiddlePlate
	Turtlebot Middle Plate class definition. More...

class	chrono::turtlebot::Turtlebot_TopPlate
	Turtlebot Top Plate class definition. More...

class	chrono::turtlebot::Turtlebot_Rod_Long
	Long Supporting Rod class definition. More...

class	chrono::turtlebot::TurtleBot
	Turtlebot Robot class This class assemble and initialize a complete turtlebot robot This class also handles general control commands of the robot. More...

Enumerations
enum	chrono::turtlebot::CollisionFamily::Enum { chrono::turtlebot::CollisionFamily::CHASSIS = 1, chrono::turtlebot::CollisionFamily::ACTIVE_WHEEL = 2, chrono::turtlebot::CollisionFamily::PASSIVE_WHEEL = 3, chrono::turtlebot::CollisionFamily::ROD = 4, chrono::turtlebot::CollisionFamily::BOTTOM_PLATE = 5, chrono::turtlebot::CollisionFamily::MIDDLE_PLATE = 6, chrono::turtlebot::CollisionFamily::TOP_PLATE = 7 }

enum	chrono::turtlebot::WheelID { chrono::turtlebot::LD, chrono::turtlebot::RD }
	TurtleBot wheel identifiers. More...

Functions
	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 &	chrono::turtlebot::Turtlebot_Part::GetName () const
	Return the name of the part.

void	chrono::turtlebot::Turtlebot_Part::SetName (const std::string &name)
	Set the name of the part.

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

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

const ChVector &	chrono::turtlebot::Turtlebot_Part::GetPos () const
	Return the Position of the Turtlebot part.

const ChQuaternion &	chrono::turtlebot::Turtlebot_Part::GetRot () const
	Return the Rotation of the Turtlebot part.

void	chrono::turtlebot::Turtlebot_Part::AddVisualizationAssets ()
	Initialize the visulization mesh of the Turtlebot part.

void	chrono::turtlebot::Turtlebot_Part::AddCollisionShapes ()
	Initialize the collision mesh of the Turtlebot part.

void	chrono::turtlebot::Turtlebot_Part::SetCollide (bool state)
	Enable/disable collision.

	chrono::turtlebot::Turtlebot_Chassis::Turtlebot_Chassis (const std::string &name, bool fixed, std::shared_ptr< ChMaterialSurface > mat, ChSystem *system, const ChVector<> &body_pos, const ChQuaternion<> &body_rot, bool collide)

void	chrono::turtlebot::Turtlebot_Chassis::Initialize ()
	Initialize the chassis at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_Chassis::SetCollide (bool state)
	Enable/disable collision for the robot chassis.

	chrono::turtlebot::Turtlebot_ActiveWheel::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	chrono::turtlebot::Turtlebot_ActiveWheel::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_ActiveWheel::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::Turtlebot_PassiveWheel::Turtlebot_PassiveWheel (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	chrono::turtlebot::Turtlebot_PassiveWheel::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_PassiveWheel::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::Turtlebot_Rod_Short::Turtlebot_Rod_Short (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	chrono::turtlebot::Turtlebot_Rod_Short::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_Rod_Short::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::Turtlebot_BottomPlate::Turtlebot_BottomPlate (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	chrono::turtlebot::Turtlebot_BottomPlate::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_BottomPlate::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::Turtlebot_MiddlePlate::Turtlebot_MiddlePlate (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	chrono::turtlebot::Turtlebot_MiddlePlate::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_MiddlePlate::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::Turtlebot_TopPlate::Turtlebot_TopPlate (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	chrono::turtlebot::Turtlebot_TopPlate::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_TopPlate::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::Turtlebot_Rod_Long::Turtlebot_Rod_Long (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	chrono::turtlebot::Turtlebot_Rod_Long::Initialize ()
	Initialize the wheel at the specified (absolute) position.

void	chrono::turtlebot::Turtlebot_Rod_Long::SetCollide (bool state)
	Enable/disable collision for the wheel.

	chrono::turtlebot::TurtleBot::TurtleBot (ChSystem *system, const ChVector<> &robot_pos, const ChQuaternion<> &robot_rot, std::shared_ptr< ChMaterialSurface > wheel_mat=nullptr)

void	chrono::turtlebot::TurtleBot::Initialize ()
	Initialize the turtlebot robot using current parameters. More...

void	chrono::turtlebot::TurtleBot::SetMotorSpeed (double rad_speed, WheelID id)
	Set active drive wheel speed.

ChVector	chrono::turtlebot::TurtleBot::GetActiveWheelSpeed (WheelID id)
	Get active drive wheel speed.

ChVector	chrono::turtlebot::TurtleBot::GetActiveWheelAngVel (WheelID id)
	Get active driver wheel angular velocity.

Variables
std::string	chrono::turtlebot::Turtlebot_Part::m_name
	subsystem name

std::shared_ptr< ChBodyAuxRef >	chrono::turtlebot::Turtlebot_Part::m_body
	rigid body

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

std::string	chrono::turtlebot::Turtlebot_Part::m_mesh_name
	visualization mesh name

ChVector	chrono::turtlebot::Turtlebot_Part::m_offset
	offset for visualization mesh

ChColor	chrono::turtlebot::Turtlebot_Part::m_color
	visualization asset color

ChSystem *	chrono::turtlebot::Turtlebot_Part::m_system
	system which Turtlebot Part belongs to

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

ChVector	chrono::turtlebot::Turtlebot_Part::m_pos
	Turtlebot part's relative position wrt the chassis.

ChQuaternion	chrono::turtlebot::Turtlebot_Part::m_rot
	Turtlebot part's relative rotation wrt the chassis.

double	chrono::turtlebot::Turtlebot_Part::m_density
	Turtlebot part's density.

bool	chrono::turtlebot::Turtlebot_Part::m_collide
	Turtlebot part's collision indicator.

bool	chrono::turtlebot::Turtlebot_Part::m_fixed
	Turtlebot part's fixed indication.

Friends
class	chrono::turtlebot::Turtlebot_Chassis::TurtleBot

class	chrono::turtlebot::Turtlebot_ActiveWheel::TurtleBot

class	chrono::turtlebot::Turtlebot_PassiveWheel::TurtleBot

class	chrono::turtlebot::Turtlebot_Rod_Short::TurtleBot

class	chrono::turtlebot::Turtlebot_BottomPlate::TurtleBot

class	chrono::turtlebot::Turtlebot_MiddlePlate::TurtleBot

class	chrono::turtlebot::Turtlebot_TopPlate::TurtleBot

class	chrono::turtlebot::Turtlebot_Rod_Long::TurtleBot

Enumeration Type Documentation

◆ Enum

enum chrono::turtlebot::CollisionFamily::Enum

Enumerator
CHASSIS	chassis
ACTIVE_WHEEL	active cylinderical drive wheel
PASSIVE_WHEEL	passive cylinderical wheel
ROD	short and long supporting rods
BOTTOM_PLATE	bottom plate
MIDDLE_PLATE	middle plate
TOP_PLATE	top plate

◆ WheelID

enum chrono::turtlebot::WheelID

TurtleBot wheel identifiers.

Enumerator
LD	left driven
RD	right driven

Function Documentation

◆ Initialize()

void chrono::turtlebot::TurtleBot::Initialize ( )

Initialize the turtlebot robot using current parameters.

Initialize the complete rover and add all constraints.

Description

Namespaces

Classes

Enumerations

Functions

Variables

Friends

Enumeration Type Documentation

◆ Enum

◆ WheelID

Function Documentation

◆ Initialize()