#include <Wheel.h>

Inheritance diagram for mvsim::Wheel:

Collaboration diagram for mvsim::Wheel:

[legend]

Public Member Functions
	Wheel (World *world)

mrpt::math::TPose3D	pose () const

std::string	asString () const

void	getAs3DObject (mrpt::opengl::CSetOfObjects &obj, bool isPhysicalScene)

void	loadFromXML (const rapidxml::xml_node< char > *xml_node)

void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

double	getPhi () const
	Orientation (rad) wrt vehicle local frame.

void	setPhi (double val)
	Orientation (rad) wrt vehicle local frame.

double	getW () const
	Spinning velocity (rad/s) wrt shaft.

void	setW (double val)
	Spinning velocity (rad/s) wrt shaft.

void	recalcInertia ()
	Recompute Iyy from mass, diameter and height.

Public Member Functions inherited from mvsim::VisualObject
	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

	VisualObject (const VisualObject &)=delete

VisualObject &	operator= (const VisualObject &)=delete

	VisualObject (VisualObject &&)=delete

VisualObject &	operator= (VisualObject &&)=delete

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

const std::optional< Shape2p5 > &	collisionShape () const

void	showCollisionShape (bool show)

Public Attributes
double	x = 0

double	y = -0.5

double	yaw = 0

double	diameter = .4

double	width = .2

double	mass = 2.0
	[kg]

double	Iyy = 1.0

mrpt::img::TColor	color {0xff323232}

std::string	linked_yaw_object_name

double	linked_yaw_offset = .0

const TParameterDefinitions	params_

Protected Attributes
double	phi = 0

double	w = 0

Protected Attributes inherited from mvsim::VisualObject
World *	world_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoViz_ = true

const bool	insertCustomVizIntoPhysical_ = true

Additional Inherited Members
Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry.

bool	parseVisual (const JointXMLnode<> &rootNode)

void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false, const std::optional< double > &scaleOverride=std::nullopt)

void	setCollisionShape (const Shape2p5 &cs)

Detailed Description

Common info for 2D wheels, for usage in derived classes. Wheels are modeled as a mass with a cylindrical shape.

Member Function Documentation

◆ asString()

std::string mvsim::Wheel::asString ( ) const

Generates a human-readable description of the wheel parameters and kinematic status

◆ pose()

mrpt::math::TPose3D mvsim::Wheel::pose ( ) const

inline

Pose of the wheel wrt the chassis ref point (in local coords)

Member Data Documentation

◆ color

mrpt::img::TColor mvsim::Wheel::color {0xff323232}

Color for OpenGL rendering

◆ diameter

double mvsim::Wheel::diameter = .4

Length(diameter) and width of the wheel rectangle [m]

◆ Iyy

double mvsim::Wheel::Iyy = 1.0

Inertia: computed automatically from geometry at constructor and at loadFromXML(), but can be overrided.

◆ linked_yaw_object_name

std::string mvsim::Wheel::linked_yaw_object_name

Optional: name of a named custom visualization object in my parent vehicle, whose angle (yaw) is to be set whenever this wheel angle is updated.

◆ params_

const TParameterDefinitions mvsim::Wheel::params_

Initial value:

= {
        {"mass", {"%lf", &mass}},
        {"width", {"%lf", &width}},
        {"diameter", {"%lf", &diameter}},
        {"color", {"%color", &color}},
        {"inertia", {"%lf", &Iyy}},
        {"linked_yaw", {"%s", &linked_yaw_object_name}},
        {"linked_yaw_offset_deg", {"%lf_deg", &linked_yaw_offset}}}

◆ phi

double mvsim::Wheel::phi = 0

protected

Angular position and velocity of the wheel as it spins over its shaft (rad, rad/s)

◆ x

double mvsim::Wheel::x = 0

Location of the wheel wrt the chassis ref point [m,rad] (in local coords)

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/Wheel.h

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members