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
mrpt::utils::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

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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 26 of file Wheel.h.

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Constructor & Destructor Documentation

Wheel::Wheel

(

)

Definition at line 21 of file Wheel.cpp.

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Member Function Documentation

void Wheel::getAs3DObject

(

mrpt::opengl::CSetOfObjects &

obj

)

Definition at line 36 of file Wheel.cpp.

double mvsim::Wheel::getPhi

(

)

const [inline]

Orientation (rad) wrt vehicle local frame.

Definition at line 42 of file Wheel.h.

double mvsim::Wheel::getW

(

)

const [inline]

Spinning velocity (rad/s) wrt shaft.

Definition at line 50 of file Wheel.h.

void Wheel::loadFromXML

(

const rapidxml::xml_node< char > *

xml_node

)

Definition at line 62 of file Wheel.cpp.

void Wheel::recalcInertia

(

)

Recompute Iyy from mass, diameter and height.

Definition at line 100 of file Wheel.cpp.

void mvsim::Wheel::setPhi

(

double

val

)

[inline]

Orientation (rad) wrt vehicle local frame.

Definition at line 46 of file Wheel.h.

void mvsim::Wheel::setW

(

double

val

)

[inline]

Spinning velocity (rad/s) wrt shaft.

Definition at line 51 of file Wheel.h.

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Member Data Documentation

mrpt::utils::TColor mvsim::Wheel::color

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

Color for OpenGL rendering

Definition at line 36 of file Wheel.h.

double mvsim::Wheel::diameter

[m,rad] (in local coords)

Definition at line 31 of file Wheel.h.

double mvsim::Wheel::Iyy

Inertia: computed automatically from geometry at

Definition at line 34 of file Wheel.h.

double mvsim::Wheel::mass

[kg]

Definition at line 33 of file Wheel.h.

double mvsim::Wheel::phi [protected]

Definition at line 54 of file Wheel.h.

double mvsim::Wheel::w [protected]

Angular position and velocity of the wheel as it spins

Definition at line 54 of file Wheel.h.

double mvsim::Wheel::width

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

Definition at line 31 of file Wheel.h.

double mvsim::Wheel::x

Definition at line 29 of file Wheel.h.

double mvsim::Wheel::y

Definition at line 29 of file Wheel.h.

double mvsim::Wheel::yaw

Location of the wheel wrt the chassis ref point

Definition at line 29 of file Wheel.h.

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

• Wheel.h
• Wheel.cpp