robot.h

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#ifndef ROBOT_H
#define ROBOT_H
 
#include "bitrl/bitrl_types.h"
#include <chrono/physics/ChSystemNSC.h>
#include <chrono/physics/ChBodyEasy.h>
#include <chrono/functions/ChFunctionConst.h>
#include <chrono/physics/ChLinkMotorRotationSpeed.h>
 
 
#include <memory>
namespace example_13
{
 
using namespace bitrl;
 
const real_t WHEEL_RADIUS = 0.1;
const real_t CHASSIS_HEIGHT = 0.1;
const real_t WHEEL_WIDTH = 0.05;
const real_t CASTER_RADIUS = 0.05;
 
auto build_wheel(std::shared_ptr<chrono::ChContactMaterialNSC> material, const chrono::ChVector3d& pos);
auto build_motor(std::shared_ptr<chrono::ChBodyEasyCylinder> wheel,
                 std::shared_ptr<chrono::ChFunctionConst> speed_func,
                 std::shared_ptr<chrono::ChBodyEasyBox> chassis,
                 const chrono::ChVector3d& pos);
 
class Robot
{
public:
 
    // constructor
    Robot()=default;
 
    // add the components of this robot to the system we simulate
    void add_to_sys(chrono::ChSystemNSC& sys) const;
 
    // build the robot
    void build(std::shared_ptr<chrono::ChContactMaterialNSC> material);
 
    // set the speeds of the motors
    void set_speed(real_t speed);
 
    // reset the robot
    void reset();
 
    // the pose of the robot
    chrono::ChVector3d position()noexcept{return chassis_ -> GetPos();}
 
private:
 
    std::shared_ptr<chrono::ChBodyEasyBox> chassis_;
    std::shared_ptr<chrono::ChBodyEasyCylinder> left_wheel_;
    std::shared_ptr<chrono::ChBodyEasyCylinder> right_wheel_;
    std::shared_ptr<chrono::ChLinkMotorRotationSpeed> left_wheel_motor_;
    std::shared_ptr<chrono::ChLinkMotorRotationSpeed> right_wheel_motor_;
    std::shared_ptr<chrono::ChBodyEasySphere> caster_wheel_;
    std::shared_ptr<chrono::ChLinkLockRevolute> caster_link_joint_;
 
};
}
 
 
#endif //ROBOT_H