class sphericalWheel

a spherical wheel.

Inheritance:

Inherited from wheelModule:

Public Methods

virtual int addContactInfo(dynoContactor* dc, int flags = DYNO_COMPUTE_OBSTACLE_CONTACTS)

virtual joint* getJoint(void)

virtual triple axis(void) const

virtual double velocity(void) const

virtual triple center(void) const

virtual triple omega(void) const

virtual int isCylindrical(void)

Inherited from locomotorModule:

Inherited from toolModule:

Public Fields

quaternion q

triple x

quaternion qlink

triple xlink

part* tcpPart

double kp

double kv

ptrList* contactParts

Public Methods

virtual int isCompliant(void)

int computeLinkCoords(void)

inline void getWorldCoords(triple &xworld, quaternion &qworld) const

inline triple getWorldPt(void) const

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

a spherical wheel. The density of the surface material is assumed to be 0.5kg/m^2, from which the mass of the wheel is computed.

parameters:

• 0 - wheel radius

Direct child classes:

balloonWheel

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