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
TColor	color
	constructor and at loadFromXML(), but can be overrided. More...
double	diameter
	[m,rad] (in local coords) More...
double	Iyy
double	mass
	[kg] More...
double	width
	Length(diameter) and width of the wheel rectangle [m]. More...
double	x
double	y
double	yaw

Protected Attributes
double	phi
double	w

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 38 of file Wheel.h.

Constructor & Destructor Documentation

Wheel::Wheel

(

)

Definition at line 35 of file Wheel.cpp.

Member Function Documentation

void Wheel::getAs3DObject

(

mrpt::opengl::CSetOfObjects &

obj

)

Definition at line 50 of file Wheel.cpp.

double mvsim::Wheel::getPhi ( ) const

inline

Orientation (rad) wrt vehicle local frame.

Definition at line 54 of file Wheel.h.

double mvsim::Wheel::getW ( ) const

inline

Spinning velocity (rad/s) wrt shaft.

Definition at line 62 of file Wheel.h.

void Wheel::loadFromXML

(

const rapidxml::xml_node< char > *

xml_node

)

Definition at line 74 of file Wheel.cpp.

void Wheel::recalcInertia

(

)

Recompute Iyy from mass, diameter and height.

Definition at line 112 of file Wheel.cpp.

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

inline

Orientation (rad) wrt vehicle local frame.

Definition at line 58 of file Wheel.h.

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

inline

Spinning velocity (rad/s) wrt shaft.

Definition at line 63 of file Wheel.h.

Member Data Documentation

TColor mvsim::Wheel::color

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

Color for OpenGL rendering

Definition at line 48 of file Wheel.h.

double mvsim::Wheel::diameter

[m,rad] (in local coords)

Definition at line 43 of file Wheel.h.

double mvsim::Wheel::Iyy

Inertia: computed automatically from geometry at

Definition at line 46 of file Wheel.h.

double mvsim::Wheel::mass

[kg]

Definition at line 45 of file Wheel.h.

double mvsim::Wheel::phi

protected

Definition at line 66 of file Wheel.h.

double mvsim::Wheel::w

protected

Angular position and velocity of the wheel as it spins

Definition at line 66 of file Wheel.h.

double mvsim::Wheel::width

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

Definition at line 43 of file Wheel.h.

double mvsim::Wheel::x

Definition at line 41 of file Wheel.h.

double mvsim::Wheel::y

Definition at line 41 of file Wheel.h.

double mvsim::Wheel::yaw

Location of the wheel wrt the chassis ref point

Definition at line 41 of file Wheel.h.

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

• Wheel.h
• Wheel.cpp