#include <Wheel.h>

Inheritance diagram for mvsim::Wheel:

Public Member Functions
std::string	asString () const

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	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

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

mrpt::math::TPose3D	pose () const

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 (World *world)

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Attributes
mrpt::img::TColor	color {0xff323232}

double	diameter = .4

double	Iyy = 1.0

std::string	linked_yaw_object_name

double	linked_yaw_offset = .0

double	mass = 2.0
	[kg] More...

const TParameterDefinitions	params_

double	width = .2

double	x = 0

double	y = -0.5

double	yaw = 0

Protected Attributes
double	phi = 0

double	w = 0

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Additional Inherited Members
Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

bool	parseVisual (const JointXMLnode<> &rootNode)

void	setCollisionShape (const Shape2p5 &cs)

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 31 of file Wheel.h.

Constructor & Destructor Documentation

◆ Wheel()

Wheel::Wheel ( World * world )

Definition at line 25 of file Wheel.cpp.

Member Function Documentation

◆ asString()

std::string Wheel::asString ( ) const

Generates a human-readable description of the wheel parameters and kinematic status

Definition at line 107 of file Wheel.cpp.

◆ getAs3DObject()

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

Definition at line 27 of file Wheel.cpp.

◆ getPhi()

double mvsim::Wheel::getPhi ( ) const

inline

Orientation (rad) wrt vehicle local frame.

Definition at line 84 of file Wheel.h.

◆ getW()

double mvsim::Wheel::getW ( ) const

inline

Spinning velocity (rad/s) wrt shaft.

Definition at line 92 of file Wheel.h.

◆ internalGuiUpdate()

void Wheel::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overridevirtual

Implements mvsim::VisualObject.

Definition at line 98 of file Wheel.cpp.

◆ loadFromXML()

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

Definition at line 61 of file Wheel.cpp.

◆ pose()

mrpt::math::TPose3D mvsim::Wheel::pose ( ) const

inline

Pose of the wheel wrt the chassis ref point (in local coords)

Definition at line 41 of file Wheel.h.

◆ recalcInertia()

void Wheel::recalcInertia ( )

Recompute Iyy from mass, diameter and height.

Definition at line 92 of file Wheel.cpp.

◆ setPhi()

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

inline

Orientation (rad) wrt vehicle local frame.

Definition at line 88 of file Wheel.h.

◆ setW()

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

inline

Spinning velocity (rad/s) wrt shaft.

Definition at line 93 of file Wheel.h.

Member Data Documentation

◆ color

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

Color for OpenGL rendering

Definition at line 52 of file Wheel.h.

◆ diameter

double mvsim::Wheel::diameter = .4

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

Definition at line 44 of file Wheel.h.

◆ Iyy

double mvsim::Wheel::Iyy = 1.0

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

Definition at line 49 of file Wheel.h.

◆ linked_yaw_object_name

std::string mvsim::Wheel::linked_yaw_object_name

Optional: name of a named custom visualization object in my parent vehicle, whose angle (yaw) is to be set whenever this wheel angle is updated.

Definition at line 58 of file Wheel.h.

◆ linked_yaw_offset

double mvsim::Wheel::linked_yaw_offset = .0

Definition at line 59 of file Wheel.h.

◆ mass

double mvsim::Wheel::mass = 2.0

[kg]

Definition at line 45 of file Wheel.h.

◆ params_

const TParameterDefinitions mvsim::Wheel::params_

Initial value:

= {
                {"mass", {"%lf", &mass}},
                {"width", {"%lf", &width}},
                {"diameter", {"%lf", &diameter}},
                {"color", {"%color", &color}},
                {"inertia", {"%lf", &Iyy}},
                {"linked_yaw", {"%s", &linked_yaw_object_name}},
                {"linked_yaw_offset_deg", {"%lf_deg", &linked_yaw_offset}}}

Definition at line 61 of file Wheel.h.

◆ phi

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 98 of file Wheel.h.

◆ w

double mvsim::Wheel::w = 0

protected

Definition at line 98 of file Wheel.h.

◆ width

double mvsim::Wheel::width = .2

Definition at line 44 of file Wheel.h.

◆ x

double mvsim::Wheel::x = 0

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

Definition at line 38 of file Wheel.h.

◆ y

double mvsim::Wheel::y = -0.5

Definition at line 38 of file Wheel.h.

◆ yaw

double mvsim::Wheel::yaw = 0

Definition at line 38 of file Wheel.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Wheel()

Member Function Documentation

◆ asString()

◆ getAs3DObject()

◆ getPhi()

◆ getW()

◆ internalGuiUpdate()

◆ loadFromXML()

◆ pose()

◆ recalcInertia()

◆ setPhi()

◆ setW()

Member Data Documentation

◆ color

◆ diameter

◆ Iyy

◆ linked_yaw_object_name

◆ linked_yaw_offset

◆ mass

◆ params_

◆ phi

◆ w

◆ width

◆ x

◆ y

◆ yaw