class wheelModule

A base class for wheels.

Inheritance:

Public Methods

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

adds contact information to dc.

virtual joint* getJoint(void)

returns the joint to which the wheel is attached (the drive joint)

virtual triple axis(void) const

returns the axis of the drive joint, in world coordinates

virtual double velocity(void) const

returns the velocity of the drive joint

virtual triple center(void) const

returns the origin of the drive joint, in world coordinates

virtual triple omega(void) const

returns the angular velocity due to the drive joint, in world coordinates

virtual int isCylindrical(void)

indicates whether the wheel is cylindrical or spherical

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 base class for wheels.

• wheel coordinates are defined with the origin at the center of the wheel's disc, along the 'inner' edge of the wheel, with z axis aligned w/ rotation axis and pointing towards the outer edge
• worldToWheel and wheelToWorld convert between world and wheel coordinates. they are computed by computeWheelTransforms()

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

adds contact information to dc.

virtual joint* getJoint(void)

returns the joint to which the wheel is attached (the drive joint)

virtual triple axis(void) const

returns the axis of the drive joint, in world coordinates

virtual double velocity(void) const

returns the velocity of the drive joint

virtual triple center(void) const

returns the origin of the drive joint, in world coordinates

virtual triple omega(void) const

returns the angular velocity due to the drive joint, in world coordinates

virtual int isCylindrical(void)

indicates whether the wheel is cylindrical or spherical

Direct child classes:

sphericalWheel
simpleWheel

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