diff_drive_robot_rods.h

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#ifndef DIFF_DRIVE_ROBOT_RODS_H
#define DIFF_DRIVE_ROBOT_RODS_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_Rod_Short : public CHRONO_DiffDriveRobot_Part {
public:
    CHRONO_DiffDriveRobot_Rod_Short(const std::string& name,
                        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);
 
    ~CHRONO_DiffDriveRobot_Rod_Short()=default;
 
    virtual void init()override;
 
private:
    void translate(const chrono::ChVector3d& shift);
 
};
 
class CHRONO_DiffDriveRobot_Rod_Long : public CHRONO_DiffDriveRobot_Part {
public:
    CHRONO_DiffDriveRobot_Rod_Long(const std::string& name,
                       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_Rod_Long()=default;
 
    virtual void init() override;
 
 
 
private:
    void translate(const chrono::ChVector3d& shift);
};
}
}
#endif
#endif //DIFF_DRIVE_ROBOT_ROD_SHORT_H