Wheel.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */

#include <mvsim/Wheel.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CCylinder.h>
#include <mrpt/opengl/stock_objects.h>
#include <rapidxml.hpp>

#include "xml_utils.h"

using namespace mvsim;
using namespace std;

Wheel::Wheel()
        : x(.0),
          y(-.5),
          yaw(.0),
          diameter(.4),
          width(.2),
          mass(2.0),
          Iyy(1.0),
          color(0xff323232),
          phi(.0),
          w(.0)
{
        recalcInertia();
}

void Wheel::getAs3DObject(mrpt::opengl::CSetOfObjects& obj)
{
        obj.clear();

        mrpt::opengl::CCylinder::Ptr gl_wheel =
                mrpt::make_aligned_shared<mrpt::opengl::CCylinder>(
                        0.5 * diameter, 0.5 * diameter, this->width, 15, 1);
        gl_wheel->setColor(mrpt::utils::TColorf(color));
        gl_wheel->setPose(
                mrpt::poses::CPose3D(
                        0, 0.5 * width, 0, 0, 0, mrpt::utils::DEG2RAD(90)));

        mrpt::opengl::CSetOfObjects::Ptr gl_wheel_frame =
                mrpt::make_aligned_shared<mrpt::opengl::CSetOfObjects>();
        gl_wheel_frame->insert(gl_wheel);
        {
                mrpt::opengl::CSetOfObjects::Ptr gl_xyz =
                        mrpt::opengl::stock_objects::CornerXYZSimple(0.9 * diameter, 2.0);
                gl_wheel_frame->insert(gl_xyz);
        }

        obj.setPose(mrpt::math::TPose3D(x, y, 0.5 * diameter, yaw, 0.0, 0.0));

        obj.insert(gl_wheel_frame);
}

void Wheel::loadFromXML(const rapidxml::xml_node<char>* xml_node)
{
        ASSERT_(xml_node)
        // Parse attributes:
        // <l_wheel pos="0.0 -0.5 [OPTIONAL_ANG]" mass="2.0" width="0.10"
        // diameter="0.30" />
        // pos:
        {
                const rapidxml::xml_attribute<char>* attr =
                        xml_node->first_attribute("pos");
                if (attr && attr->value())
                {
                        const std::string sAttr = attr->value();
                        vec3 v = parseXYPHI(sAttr, true);
                        this->x = v.vals[0];
                        this->y = v.vals[1];
                        this->yaw = v.vals[2];
                }
        }

        // Detect if inertia is manually set:
        const double INERTIA_NOT_SET = -1.;
        this->Iyy = INERTIA_NOT_SET;

        std::map<std::string, TParamEntry> attribs;
        attribs["mass"] = TParamEntry("%lf", &this->mass);
        attribs["width"] = TParamEntry("%lf", &this->width);
        attribs["diameter"] = TParamEntry("%lf", &this->diameter);
        attribs["color"] = TParamEntry("%color", &this->color);
        attribs["inertia"] = TParamEntry("%lf", &this->Iyy);

        parse_xmlnode_attribs(*xml_node, attribs, "[Wheel]");

        // If not manually overrided, calc automatically:
        if (Iyy == INERTIA_NOT_SET) this->recalcInertia();
}

// Recompute Iyy from mass, diameter and height.
void Wheel::recalcInertia()
{
        // Iyy = m*r^2 / 2
        Iyy = mass * (0.25 * diameter * diameter) * 0.5;
}