diff_drive_robot.h

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// =============================================================================
// Authors: Jason Zhou
// =============================================================================
//
// Turtlebot Robot Class
// This is a modified version of the famous turtlebot 2e
// The geometries use the following resources as references:
// https://groups.google.com/g/sydney_ros/c/z05uQTCuDTQ
// https://grabcad.com/library/interbotix-turtlebot-2i-1
// https://www.turtlebot.com/turtlebot2/
//
// =============================================================================
 
#ifndef DIFF_DRIVE_ROBOT_H
#define DIFF_DRIVE_ROBOT_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
 
#include "bitrl/bitrl_types.h"
#include "bitrl/rigid_bodies/chrono_robots/impl/turtle_bot/diff_drive_robot_chassis.h"
#include "bitrl/rigid_bodies/chrono_robots/impl/turtle_bot/diff_drive_robot_wheels.h"
#include "bitrl/rigid_bodies/chrono_robots/impl/turtle_bot/diff_drive_robot_rods.h"
#include "bitrl/rigid_bodies/chrono_robots/impl/turtle_bot/diff_drive_robot_plates.h"
#include "bitrl/rigid_bodies/chrono_robots/chrono_robot_pose.h"
 
#include "chrono/physics/ChSystem.h"
#include "chrono/physics/ChLinkMotorRotationSpeed.h"
#include <vector>
 
 
namespace bitrl
{
namespace rb::bitrl_chrono{
 
 
class CHRONO_DiffDriveRobot final {
public:
    CHRONO_DiffDriveRobot(chrono::ChSystem& system,
              const chrono::ChVector3d& robot_pos,
              const chrono::ChQuaternion<>& robot_rot,
              std::shared_ptr<chrono::ChContactMaterial> wheel_mat = {});
 
 
    ~CHRONO_DiffDriveRobot()=default;
 
    void init();
 
    void set_motor_speed(real_t rad_speed, uint_t id);
 
    chrono::ChVector3d get_active_wheel_speed(uint_t id) const;
 
    chrono::ChVector3d get_active_wheel_angular_velocity(uint_t id)const;
 
    const CHRONO_RobotPose& get_pose() const{return pose_;}
 
private:
 
    void build_motors_();
 
    chrono::ChSystem* system_;  
 
    std::shared_ptr<CHRONO_DiffDriveRobot_Chassis> chassis_;
    std::vector<std::shared_ptr<CHRONO_DiffDriveRobot_ActiveWheel>> drive_wheels_;     
    std::vector<std::shared_ptr<CHRONO_DiffDriveRobot_PassiveWheel>> passive_wheels_;  
 
    std::vector<std::shared_ptr<CHRONO_DiffDriveRobot_Rod_Short>> m_1st_level_rods_;  
    std::vector<std::shared_ptr<CHRONO_DiffDriveRobot_Rod_Short>> m_2nd_level_rods_;  
    std::vector<std::shared_ptr<CHRONO_DiffDriveRobot_Rod_Long>> m_3rd_level_rods_;   
    std::shared_ptr<CHRONO_DiffDriveRobot_BottomPlate> bottom_plate_;               
    std::shared_ptr<CHRONO_DiffDriveRobot_MiddlePlate> middle_plate_;               
    std::shared_ptr<CHRONO_DiffDriveRobot_TopPlate> top_plate_;                     
 
    chrono::ChQuaternion<> robot_rot_;  
    chrono::ChVector3d robot_pos_;      
 
    std::vector<std::shared_ptr<chrono::ChLinkMotorRotationSpeed>> motors_;  
    std::vector<std::shared_ptr<chrono::ChFunctionConst>> motors_func_;  
 
    // model parts material
    std::shared_ptr<chrono::ChContactMaterial> chassis_material_;  
    std::shared_ptr<chrono::ChContactMaterial> wheel_material_;
 
    CHRONO_RobotPose pose_;
 
    bool dc_motor_control_ = false;
};
 
 
}  // namespace chrono
}
#endif
#endif