Public Member Functions |
void | getAs3DObject (mrpt::opengl::CSetOfObjects &obj) |
double | getPhi () const |
| Orientation (rad) wrt vehicle local frame.
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double | getW () const |
| Spinning velocity (rad/s) wrt shaft.
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void | loadFromXML (const rapidxml::xml_node< char > *xml_node) |
void | recalcInertia () |
| Recompute Iyy from mass, diameter and height.
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void | setPhi (double val) |
| Orientation (rad) wrt vehicle local frame.
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void | setW (double val) |
| Spinning velocity (rad/s) wrt shaft.
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| Wheel () |
Public Attributes |
TColor | color |
| constructor and at loadFromXML(), but can be overrided.
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double | diameter |
| [m,rad] (in local coords)
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double | Iyy |
double | mass |
| [kg]
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double | width |
| Length(diameter) and width of the wheel rectangle [m].
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double | x |
double | y |
double | yaw |
Protected Attributes |
double | phi |
double | w |
Common info for 2D wheels, for usage in derived classes. Wheels are modeled as a mass with a rectangular shape.
Definition at line 38 of file Wheel.h.