Public Member Functions | Public Attributes | Protected Attributes
mvsim::Wheel Class Reference

#include <Wheel.h>

List of all members.

Public Member Functions

void getAs3DObject (mrpt::opengl::CSetOfObjects &obj)
double getPhi () const
 Orientation (rad) wrt vehicle local frame.
double getW () const
 Spinning velocity (rad/s) wrt shaft.
void loadFromXML (const rapidxml::xml_node< char > *xml_node)
void recalcInertia ()
 Recompute Iyy from mass, diameter and height.
void setPhi (double val)
 Orientation (rad) wrt vehicle local frame.
void setW (double val)
 Spinning velocity (rad/s) wrt shaft.
 Wheel ()

Public Attributes

TColor color
 constructor and at loadFromXML(), but can be overrided.
double diameter
 [m,rad] (in local coords)
double Iyy
double mass
 [kg]
double width
 Length(diameter) and width of the wheel rectangle [m].
double x
double y
double yaw

Protected Attributes

double phi
double w

Detailed Description

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.


Constructor & Destructor Documentation

Definition at line 35 of file Wheel.cpp.


Member Function Documentation

void Wheel::getAs3DObject ( mrpt::opengl::CSetOfObjects &  obj)

Definition at line 50 of file Wheel.cpp.

double mvsim::Wheel::getPhi ( ) const [inline]

Orientation (rad) wrt vehicle local frame.

Definition at line 54 of file Wheel.h.

double mvsim::Wheel::getW ( ) const [inline]

Spinning velocity (rad/s) wrt shaft.

Definition at line 62 of file Wheel.h.

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

Definition at line 74 of file Wheel.cpp.

Recompute Iyy from mass, diameter and height.

Definition at line 112 of file Wheel.cpp.

void mvsim::Wheel::setPhi ( double  val) [inline]

Orientation (rad) wrt vehicle local frame.

Definition at line 58 of file Wheel.h.

void mvsim::Wheel::setW ( double  val) [inline]

Spinning velocity (rad/s) wrt shaft.

Definition at line 63 of file Wheel.h.


Member Data Documentation

constructor and at loadFromXML(), but can be overrided.

Color for OpenGL rendering

Definition at line 48 of file Wheel.h.

[m,rad] (in local coords)

Definition at line 43 of file Wheel.h.

Inertia: computed automatically from geometry at

Definition at line 46 of file Wheel.h.

[kg]

Definition at line 45 of file Wheel.h.

double mvsim::Wheel::phi [protected]

Definition at line 66 of file Wheel.h.

double mvsim::Wheel::w [protected]

Angular position and velocity of the wheel as it spins

Definition at line 66 of file Wheel.h.

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

Definition at line 43 of file Wheel.h.

Definition at line 41 of file Wheel.h.

Definition at line 41 of file Wheel.h.

Location of the wheel wrt the chassis ref point

Definition at line 41 of file Wheel.h.


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


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35