Turtlebot robot model
Description
Collaboration diagram for Turtlebot robot model:

Namespaces | |
| namespace | chrono::turtlebot::CollisionFamily |
| Turtlebot collision families. | |
Classes | |
| class | chrono::turtlebot::Turtlebot_Part |
| Base class definition of the Turtlebot Robot Part. More... | |
| class | chrono::turtlebot::Turtlebot_Chassis |
| Turtlebot Chassis class definition. More... | |
| class | chrono::turtlebot::Turtlebot_ActiveWheel |
| Turtlebot Active Drive Wheel class definition. More... | |
| class | chrono::turtlebot::Turtlebot_PassiveWheel |
| Turtlebot Passive Driven Wheel class definition. More... | |
| class | chrono::turtlebot::Turtlebot_Rod_Short |
| Short Supporting Rod class definition. More... | |
| class | chrono::turtlebot::Turtlebot_BottomPlate |
| Turtlebot Bottom Plate class definition. More... | |
| class | chrono::turtlebot::Turtlebot_MiddlePlate |
| Turtlebot Middle Plate class definition. More... | |
| class | chrono::turtlebot::Turtlebot_TopPlate |
| Turtlebot Top Plate class definition. More... | |
| class | chrono::turtlebot::Turtlebot_Rod_Long |
| Long Supporting Rod class definition. More... | |
| class | chrono::turtlebot::TurtleBot |
| Turtlebot Robot class This class assemble and initialize a complete turtlebot robot This class also handles general control commands of the robot. More... | |
Enumerations | |
| enum | chrono::turtlebot::CollisionFamily::Enum { chrono::turtlebot::CollisionFamily::CHASSIS = 1 , chrono::turtlebot::CollisionFamily::ACTIVE_WHEEL = 2 , chrono::turtlebot::CollisionFamily::PASSIVE_WHEEL = 3 , chrono::turtlebot::CollisionFamily::ROD = 4 , chrono::turtlebot::CollisionFamily::BOTTOM_PLATE = 5 , chrono::turtlebot::CollisionFamily::MIDDLE_PLATE = 6 , chrono::turtlebot::CollisionFamily::TOP_PLATE = 7 } |
| enum | chrono::turtlebot::WheelID { chrono::turtlebot::LD , chrono::turtlebot::RD } |
| TurtleBot wheel identifiers. More... | |
Functions | |
| chrono::turtlebot::Turtlebot_Part::Turtlebot_Part (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis_body, bool collide) | |
| const std::string & | chrono::turtlebot::Turtlebot_Part::GetName () const |
| Return the name of the part. | |
| void | chrono::turtlebot::Turtlebot_Part::SetName (const std::string &name) |
| Set the name of the part. | |
| std::shared_ptr< ChBodyAuxRef > | chrono::turtlebot::Turtlebot_Part::GetBody () const |
| Return the ChBody of the corresponding Turtlebot part. | |
| std::shared_ptr< ChBodyAuxRef > | chrono::turtlebot::Turtlebot_Part::GetChassis () const |
| Return the ChBody of the chassis wrt the Turtlebot part. | |
| const ChVector3d & | chrono::turtlebot::Turtlebot_Part::GetPos () const |
| Return the Position of the Turtlebot part. | |
| const ChQuaternion & | chrono::turtlebot::Turtlebot_Part::GetRot () const |
| Return the Rotation of the Turtlebot part. | |
| void | chrono::turtlebot::Turtlebot_Part::AddVisualizationAssets () |
| Initialize the visulization mesh of the Turtlebot part. | |
| void | chrono::turtlebot::Turtlebot_Part::AddCollisionShapes () |
| Initialize the collision mesh of the Turtlebot part. | |
| void | chrono::turtlebot::Turtlebot_Part::EnableCollision (bool state) |
| Enable/disable collision. | |
| chrono::turtlebot::Turtlebot_Chassis::Turtlebot_Chassis (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, bool collide) | |
| void | chrono::turtlebot::Turtlebot_Chassis::Initialize () |
| Initialize the chassis at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_Chassis::EnableCollision (bool state) |
| Enable/disable collision for the robot chassis. | |
| chrono::turtlebot::Turtlebot_ActiveWheel::Turtlebot_ActiveWheel (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_ActiveWheel::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_ActiveWheel::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::Turtlebot_PassiveWheel::Turtlebot_PassiveWheel (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_PassiveWheel::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_PassiveWheel::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::Turtlebot_Rod_Short::Turtlebot_Rod_Short (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_Rod_Short::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_Rod_Short::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::Turtlebot_BottomPlate::Turtlebot_BottomPlate (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_BottomPlate::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_BottomPlate::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::Turtlebot_MiddlePlate::Turtlebot_MiddlePlate (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_MiddlePlate::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_MiddlePlate::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::Turtlebot_TopPlate::Turtlebot_TopPlate (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_TopPlate::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_TopPlate::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::Turtlebot_Rod_Long::Turtlebot_Rod_Long (const std::string &name, bool fixed, std::shared_ptr< ChContactMaterial > mat, ChSystem *system, const ChVector3d &body_pos, const ChQuaternion<> &body_rot, std::shared_ptr< ChBodyAuxRef > chassis, bool collide) | |
| void | chrono::turtlebot::Turtlebot_Rod_Long::Initialize () |
| Initialize the wheel at the specified (absolute) position. | |
| void | chrono::turtlebot::Turtlebot_Rod_Long::EnableCollision (bool state) |
| Enable/disable collision for the wheel. | |
| chrono::turtlebot::TurtleBot::TurtleBot (ChSystem *system, const ChVector3d &robot_pos, const ChQuaternion<> &robot_rot, std::shared_ptr< ChContactMaterial > wheel_mat=nullptr) | |
| void | chrono::turtlebot::TurtleBot::Initialize () |
| Initialize the turtlebot robot using current parameters. | |
| void | chrono::turtlebot::TurtleBot::SetMotorSpeed (double rad_speed, WheelID id) |
| Set active drive wheel speed. | |
| ChVector3d | chrono::turtlebot::TurtleBot::GetActiveWheelSpeed (WheelID id) |
| Get active drive wheel speed. | |
| ChVector3d | chrono::turtlebot::TurtleBot::GetActiveWheelAngVel (WheelID id) |
| Get active driver wheel angular velocity. | |
Variables | |
| std::string | chrono::turtlebot::Turtlebot_Part::m_name |
| subsystem name | |
| std::shared_ptr< ChBodyAuxRef > | chrono::turtlebot::Turtlebot_Part::m_body |
| rigid body | |
| std::shared_ptr< ChContactMaterial > | chrono::turtlebot::Turtlebot_Part::m_mat |
| contact material (shared among all shapes) | |
| std::string | chrono::turtlebot::Turtlebot_Part::m_mesh_name |
| visualization mesh name | |
| ChVector3d | chrono::turtlebot::Turtlebot_Part::m_offset |
| offset for visualization mesh | |
| ChColor | chrono::turtlebot::Turtlebot_Part::m_color |
| visualization asset color | |
| ChSystem * | chrono::turtlebot::Turtlebot_Part::m_system |
| system which Turtlebot Part belongs to | |
| std::shared_ptr< ChBodyAuxRef > | chrono::turtlebot::Turtlebot_Part::m_chassis |
| the chassis body for the robot | |
| ChVector3d | chrono::turtlebot::Turtlebot_Part::m_pos |
| Turtlebot part's relative position wrt the chassis. | |
| ChQuaternion | chrono::turtlebot::Turtlebot_Part::m_rot |
| Turtlebot part's relative rotation wrt the chassis. | |
| double | chrono::turtlebot::Turtlebot_Part::m_density |
| Turtlebot part's density. | |
| bool | chrono::turtlebot::Turtlebot_Part::m_collide |
| Turtlebot part's collision indicator. | |
| bool | chrono::turtlebot::Turtlebot_Part::m_fixed |
| Turtlebot part's fixed indication. | |
Enumeration Type Documentation
◆ Enum
◆ WheelID
TurtleBot wheel identifiers.
| Enumerator | |
|---|---|
| LD | left driven |
| RD | right driven |
Function Documentation
◆ Initialize()
| void chrono::turtlebot::TurtleBot::Initialize | ( | ) |
Initialize the turtlebot robot using current parameters.
Initialize the complete rover and add all constraints.