Description

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

#include <Turtlebot.h>

Public Member Functions
	TurtleBot (ChSystem *system, const ChVector3d &robot_pos, const ChQuaternion<> &robot_rot, std::shared_ptr< ChContactMaterial > wheel_mat=nullptr)

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

void	SetMotorSpeed (double rad_speed, WheelID id)
	Set active drive wheel speed.

ChVector3d	GetActiveWheelSpeed (WheelID id)
	Get active drive wheel speed.

ChVector3d	GetActiveWheelAngVel (WheelID id)
	Get active driver wheel angular velocity.

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

Public Member Functions