diff_drive_robot_plates.h

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#ifndef DIFF_DRIVE_ROBOT_PLATES_H
#define DIFF_DRIVE_ROBOT_PLATES_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"
 
namespace bitrl
{
namespace rb::bitrl_chrono
{
 
class CHRONO_DiffDriveRobot_BottomPlate : public CHRONO_DiffDriveRobot_Part {
  public:
    CHRONO_DiffDriveRobot_BottomPlate(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);
    virtual ~CHRONO_DiffDriveRobot_BottomPlate()=default;
 
    virtual void init() override;
 
  private:
    void translate(const chrono::ChVector3d& shift);
 
};
 
 
class CHRONO_DiffDriveRobot_MiddlePlate : public CHRONO_DiffDriveRobot_Part {
  public:
    CHRONO_DiffDriveRobot_MiddlePlate(
                          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);
 
    virtual ~CHRONO_DiffDriveRobot_MiddlePlate()=default;
 
    virtual void init()override;
 
 
  private:
    void translate(const chrono::ChVector3d& shift);
 
};
 
 
class CHRONO_DiffDriveRobot_TopPlate : public CHRONO_DiffDriveRobot_Part {
  public:
 
    CHRONO_DiffDriveRobot_TopPlate(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);
    virtual ~CHRONO_DiffDriveRobot_TopPlate() {}
 
    virtual void init()override;
 
  private:
    void translate(const chrono::ChVector3d& shift);
 
};
 
}
}
#endif
 
#endif //DIFF_DRIVE_ROBOT_PLATES_H