Project Chrono: chrono::turtlebot::TurtleBot Class Reference

Public Member Functions | List of all members
chrono::turtlebot::TurtleBot Class Reference
Models » Robot models » Turtlebot robot model

## Description

Turtlebot Robot class This class assemble and initialize a complete turtlebot robot This class also handles general control commands of the robot.

`#include <Turtlebot.h>`

## Public Member Functions
| TurtleBot (ChSystem *system, const ChVector3d &robot_pos, const ChQuaternion<> &robot_rot, std::shared_ptr< ChContactMaterial > wheel_mat=nullptr)
void | Initialize ()
| Initialize the turtlebot robot using current parameters.
void | SetMotorSpeed (double rad_speed, WheelID id)
| Set active drive wheel speed.
ChVector3d | GetActiveWheelSpeed (WheelID id)
| Get active drive wheel speed.
ChVector3d | GetActiveWheelAngVel (WheelID id)
| Get active driver wheel angular velocity.

The documentation for this class was generated from the following files:

- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/turtlebot/Turtlebot.h
- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/turtlebot/Turtlebot.cpp