mvsim::Wheel Class Reference

#include <Wheel.h>

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

Public Attributes
mrpt::img::TColor	color {0xff323232}
double	diameter = .4
double	Iyy = 1.0
const TParameterDefinitions	m_params
double	mass = 2.0
	[kg] More...
double	width = .2
double	x = 0
double	y = -0.5
double	yaw = 0

Protected Attributes
double	phi = 0
double	w = 0

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 29 of file Wheel.h.

Constructor & Destructor Documentation

Wheel::Wheel

(

)

Definition at line 23 of file Wheel.cpp.

Member Function Documentation

void Wheel::getAs3DObject

(

mrpt::opengl::CSetOfObjects &

obj

)

Definition at line 25 of file Wheel.cpp.

double mvsim::Wheel::getPhi ( ) const

inline

Orientation (rad) wrt vehicle local frame.

Definition at line 61 of file Wheel.h.

double mvsim::Wheel::getW ( ) const

inline

Spinning velocity (rad/s) wrt shaft.

Definition at line 69 of file Wheel.h.

void Wheel::loadFromXML

(

const rapidxml::xml_node< char > *

xml_node

)

Definition at line 48 of file Wheel.cpp.

void Wheel::recalcInertia

(

)

Recompute Iyy from mass, diameter and height.

Definition at line 79 of file Wheel.cpp.

void mvsim::Wheel::setPhi ( double  val )

inline

Orientation (rad) wrt vehicle local frame.

Definition at line 65 of file Wheel.h.

void mvsim::Wheel::setW ( double  val )

inline

Spinning velocity (rad/s) wrt shaft.

Definition at line 70 of file Wheel.h.

Member Data Documentation

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

Color for OpenGL rendering

Definition at line 47 of file Wheel.h.

double mvsim::Wheel::diameter = .4

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

Definition at line 39 of file Wheel.h.

double mvsim::Wheel::Iyy = 1.0

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

Definition at line 44 of file Wheel.h.

const TParameterDefinitions mvsim::Wheel::m_params

Initial value:

= {
                {"mass", {"%lf", &mass}},
                {"width", {"%lf", &width}},
                {"diameter", {"%lf", &diameter}},
                {"color", {"%color", &color}},
                {"inertia", {"%lf", &Iyy}}}

Definition at line 49 of file Wheel.h.

double mvsim::Wheel::mass = 2.0

[kg]

Definition at line 40 of file Wheel.h.

double mvsim::Wheel::phi = 0

protected

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

Definition at line 75 of file Wheel.h.

double mvsim::Wheel::w = 0

protected

Definition at line 75 of file Wheel.h.

double mvsim::Wheel::width = .2

Definition at line 39 of file Wheel.h.

double mvsim::Wheel::x = 0

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

Definition at line 36 of file Wheel.h.

double mvsim::Wheel::y = -0.5

Definition at line 36 of file Wheel.h.

double mvsim::Wheel::yaw = 0

Definition at line 36 of file Wheel.h.

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

• Wheel.h
• Wheel.cpp