diff_drive_robot_chassis.h

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//
// Created by alex on 2/8/26.
//
 
#ifndef DIFF_DRIVE_ROBOT_CHASSIS_H
#define DIFF_DRIVE_ROBOT_CHASSIS_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
#include <string>
#include <memory>
 
#include "chrono/physics/ChSystem.h"
 
 
#include "bitrl/rigid_bodies/chrono_robots/impl/turtle_bot/diff_drive_robot_part.h"
#include "bitrl/bitrl_types.h"
 
namespace bitrl{
namespace rb::bitrl_chrono{
 
 
class CHRONO_DiffDriveRobot_Chassis : public CHRONO_DiffDriveRobot_Part {
public:
 
    // constructor
    CHRONO_DiffDriveRobot_Chassis(
                      std::shared_ptr<chrono::ChContactMaterial> mat,
                      chrono::ChSystem* system,
                      const chrono::ChVector3d& body_pos,
                      const chrono::ChQuaternion<>& body_rot
                      );
 
    ~CHRONO_DiffDriveRobot_Chassis()=default;
 
    virtual void init() override;
 
 
private:
    void translate(const chrono::ChVector3d& shift);
 
};
 
}
}
#endif //DIFF_DRIVE_ROBOT_CHASSIS_H
#endif