diff_drive_robot_part.h

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#ifndef DIFF_DRIVE_ROBOT_PART_H
#define DIFF_DRIVE_ROBOT_PART_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
#include <string>
#include <memory>
 
#include "bitrl/bitrl_types.h"
#include "chrono/assets/ChColor.h"
#include "chrono/physics/ChSystem.h"
#include "chrono/physics/ChLinkMotorRotationSpeed.h"
 
namespace bitrl{
namespace rb::bitrl_chrono{
 
enum class CollisionFamily : int_t
{
    CHASSIS = 1,        
    ACTIVE_WHEEL = 2,   
    PASSIVE_WHEEL = 3,  
    ROD = 4,            
    BOTTOM_PLATE = 5,   
    MIDDLE_PLATE = 6,   
    TOP_PLATE = 7       
};
 
class CHRONO_DiffDriveRobot_Part {
public:
 
 
    virtual ~CHRONO_DiffDriveRobot_Part()=default;
 
    virtual void init()=0;
 
    const std::string& get_name() const { return name_; }
 
    void set_name(const std::string& name) { name_ = name; }
 
    void set_mesh_name(const std::string& name) { mesh_name_ = name; }
 
    std::string get_mesh_name() const { return mesh_name_; }
 
    std::string get_vis_mesh_file()const;
 
    real_t get_density()const{return density_; }
 
    void set_density(real_t density) { density_ = density; }
 
    std::shared_ptr<chrono::ChBodyAuxRef> get_body_ptr() const { return body_; }
 
    std::shared_ptr<chrono::ChBodyAuxRef> get_chassis_ptr() const { return chassis_; }
 
    const chrono::ChVector3d& get_pos() const { return body_->GetFrameRefToAbs().GetPos(); }
 
    const chrono::ChQuaternion<>& get_rotation() const { return body_->GetFrameRefToAbs().GetRot(); }
 
    void enable_collision(bool state);
 
protected:
 
    CHRONO_DiffDriveRobot_Part(const std::string& name,
                  bool fixed,
                  std::shared_ptr<chrono::ChContactMaterial> mat,
                  chrono::ChSystem* system,
                  const chrono::ChVector3d& body_pos,
                  const chrono::ChQuaternion<>& body_rot,
                  std::shared_ptr<chrono::ChBodyAuxRef> chassis_body,
                  bool collide);
 
    // Initialize the body_ Called upon constructing
    // an instance of this class
    void do_init_(const std::string& mesh_name, const chrono::ChVector3d& offset,
        const chrono::ChColor& color, real_t density);
 
    void add_visualization_assets();
 
    void add_collision_shapes();
 
    std::shared_ptr<chrono::ChBodyAuxRef> body_;      
    std::shared_ptr<chrono::ChContactMaterial> contact_material_;  
    std::shared_ptr<chrono::ChBodyAuxRef> chassis_;  
 
    chrono::ChVector3d pos_;      
    chrono::ChVector3d offset_;                      
    chrono::ChColor color_;                          
    chrono::ChSystem* system_;                       
 
    chrono::ChQuaternion<> rot_;  
 
    std::string name_;                        
    std::string mesh_name_;                  
    real_t density_;      
 
    bool collide_;  
    bool fixed_;    
    bool is_initialized_{false};
};
 
}
}
 
 
 
#endif
#endif //DIFF_DRIVE_ROBOT_PART_H