chrono_diff_drive_robot.h

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#ifndef CHRONO_DIFF_DRIVE_ROBOT_H
#define CHRONO_DIFF_DRIVE_ROBOT_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
#include "bitrl/bitrl_types.h"
#include "bitrl/sensors/sensor_manager.h"
#include "bitrl/rigid_bodies/chrono_robots/chrono_robot_pose.h"
 
 
#include <chrono/physics/ChSystemSMC.h>
#include <chrono/physics/ChLinkMotorRotationSpeed.h>
 
 
#include <string>
#include <memory>
#include <utility>
 
namespace bitrl
{
namespace rb::bitrl_chrono
{
class CHRONO_DiffDriveRobotBase
{
public:
 
    typedef CHRONO_RobotPose pose_type;
 
    struct MotorHandle {
        std::shared_ptr<chrono::ChLinkMotorRotationSpeed> motor;
        std::shared_ptr<chrono::ChFunctionConst> speed;
    };
 
 
    void load_from_json(const std::string& filename);
 
    void step(real_t time_step);
 
    void set_motor_speed(const std::string& motor_name, real_t speed);
 
    void set_motor_speed(real_t speed);
 
    const std::string& get_name() const noexcept{return name_;}
 
    uint_t n_wheels()const noexcept{return 3;}
 
    uint_t n_motors()const noexcept{return 2;}
 
    void set_sensors(sensors::SensorManager& sensor_manager){sensor_manager_ptr_ = &sensor_manager;}
 
    chrono::ChSystemSMC& CHRONO_sys() noexcept{return sys_;}
 
 
    std::shared_ptr<chrono::ChBody> CHRONO_chassis()noexcept{return chassis_;}
 
    std::shared_ptr<pose_type> pose()noexcept{return pose_;}
 
protected:
 
 
    chrono::ChSystemSMC sys_;
 
    std::shared_ptr<chrono::ChBody> chassis_;
 
    std::shared_ptr<pose_type> pose_;
 
    sensors::SensorManager* sensor_manager_ptr_;
 
    std::pair<MotorHandle, MotorHandle> motors_;
 
    std::string name_;
 
};
 
inline void CHRONO_DiffDriveRobotBase::set_motor_speed(real_t speed)
{
    set_motor_speed("left_motor", speed);
    set_motor_speed("right_motor", speed);
}
}
}
#endif
#endif //DIFF_DRIVE_ROBOT_H