diff_drive_robot_wheels.h

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#ifndef DIFF_DRIVE_ROBOT_WHEELS_H
#define DIFF_DRIVE_ROBOT_WHEELS_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
#include <string>
#include <memory>
 
#include "bitrl/rigid_bodies/chrono_robots/impl/turtle_bot/diff_drive_robot_part.h"
namespace bitrl{
namespace rb::bitrl_chrono
{
 
class CHRONO_DiffDriveRobot_ActiveWheel : public CHRONO_DiffDriveRobot_Part {
public:
    CHRONO_DiffDriveRobot_ActiveWheel(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
                         );
 
    // destructor
    virtual ~CHRONO_DiffDriveRobot_ActiveWheel()=default;
 
    virtual void init() override;
 
private:
    void translate(const chrono::ChVector3d& shift);
};
 
class CHRONO_DiffDriveRobot_PassiveWheel : public CHRONO_DiffDriveRobot_Part {
public:
    CHRONO_DiffDriveRobot_PassiveWheel(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_PassiveWheel()=default;
 
    virtual void init() override;
 
private:
    void translate(const chrono::ChVector3d& shift);
 
};
 
}
}
 
#endif //DIFF_DRIVE_ROBOT_ACTIVE_WHEEL_H
#endif