Wheel.h

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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/>                                    |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mvsim/basic_types.h>

#include <mrpt/poses/CPose2D.h>
#include <mrpt/version.h>

#if MRPT_VERSION < 0x199
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/utils/TColor.h>
using mrpt::utils::TColor;
#else
#include <mrpt/math/TPoint2D.h>
#include <mrpt/math/TPose3D.h>
#include <mrpt/math/TPolygon2D.h>
#include <mrpt/img/TColor.h>
using mrpt::img::TColor;
#endif

namespace mvsim
{
class DefaultFriction;
class VehicleBase;
class DynamicsDifferential;

class Wheel
{
   public:
        double x, y, yaw;  

        double diameter,
                width;  
        double mass;  
        double Iyy;  

        TColor color;  

        Wheel();
        void getAs3DObject(mrpt::opengl::CSetOfObjects& obj);
        void loadFromXML(const rapidxml::xml_node<char>* xml_node);

        double getPhi() const
        {
                return phi;
        }  
        void setPhi(double val)
        {
                phi = val;
        }  
        double getW() const { return w; }  
        void setW(double val) { w = val; }  
        void recalcInertia();  
   protected:
        double phi, w;  

};
}  // namespace mvsim