mvsim::Wheel Class Reference

#include <Wheel.h>

Inheritance diagram for mvsim::Wheel:

Public Member Functions
std::string	asString () const
void	getAs3DObject (mrpt::opengl::CSetOfObjects &obj, bool isPhysicalScene)
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...
	Wheel (World *world)
Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const
bool	customVisualVisible () const
void	customVisualVisible (const bool visible)
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 JointXMLnode<> &rootNode)
bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one <visual>...</visual> entry. More...
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 cylindrical shape.

Definition at line 33 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 106 of file Wheel.cpp.

getAs3DObject()

void Wheel::getAs3DObject	(	mrpt::opengl::CSetOfObjects &	obj,
		bool	isPhysicalScene
	)

Definition at line 27 of file Wheel.cpp.

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 62 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 43 of file Wheel.h.

recalcInertia()

void Wheel::recalcInertia

(

)

Recompute Iyy from mass, diameter and height.

Definition at line 92 of file Wheel.cpp.

Member Data Documentation

color

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

Color for OpenGL rendering

Definition at line 54 of file Wheel.h.

diameter

double mvsim::Wheel::diameter = .4

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

Definition at line 46 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 51 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 60 of file Wheel.h.

linked_yaw_offset

double mvsim::Wheel::linked_yaw_offset = .0

Definition at line 61 of file Wheel.h.

mass

double mvsim::Wheel::mass = 2.0

[kg]

Definition at line 47 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 63 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 93 of file Wheel.h.

w

double mvsim::Wheel::w = 0

protected

Definition at line 93 of file Wheel.h.

width

double mvsim::Wheel::width = .2

Definition at line 46 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 40 of file Wheel.h.

y

double mvsim::Wheel::y = -0.5

Definition at line 40 of file Wheel.h.

yaw

double mvsim::Wheel::yaw = 0

Definition at line 40 of file Wheel.h.

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

• Wheel.h
• Wheel.cpp