chrono::turtlebot::TurtleBot Class Reference


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 ChVector<> &robot_pos, const ChQuaternion<> &robot_rot, std::shared_ptr< ChMaterialSurface > 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.
ChVector GetActiveWheelSpeed (WheelID id)
 Get active drive wheel speed.
ChVector GetActiveWheelAngVel (WheelID id)
 Get active driver wheel angular velocity.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/robot/turtlebot/Turtlebot.h
  • /builds/uwsbel/chrono/src/chrono_models/robot/turtlebot/Turtlebot.cpp