Project Chrono: chrono::curiosity::CuriositySpeedDriver Class Reference

Public Member Functions | List of all members
chrono::curiosity::CuriositySpeedDriver Class Reference
Models » Robot models » Curiosity Mars rover model

## Description

Concrete Curiosity speed driver.

This driver applies the same angular speed (ramped from 0 to a prescribed value) to all wheels.

`#include <Curiosity.h>`

Inheritance diagram for chrono::curiosity::CuriositySpeedDriver:
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Collaboration diagram for chrono::curiosity::CuriositySpeedDriver:
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## Public Member Functions
| CuriositySpeedDriver (double time_ramp, double speed)
Public Member Functions inherited from chrono::curiosity::CuriosityDriver
void | SetSteering (double angle)
| Set current steering input (angle: negative for left turn, positive for right turn).
void | SetSteering (double angle, CuriosityWheelID id)
| Set current steering input (angle: negative for left turn, positive for right turn).

## Additional Inherited Members
Public Types inherited from chrono::curiosity::CuriosityDriver
enum class | DriveMotorType { SPEED , TORQUE }
| Type of drive motor control. More...
Protected Attributes inherited from chrono::curiosity::CuriosityDriver
Curiosity * | curiosity
| associated Curiosity rover
std::array< double, 6 > | drive_speeds
| angular speeds for drive motors (positive for forward motion)
std::array< double, 4 > | steer_angles
| angles for steer motors (negative for left turn, positive for right turn)

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

- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/curiosity/Curiosity.h
- D:/W/B/src/chrono-9.0.1/src/chrono_models/robot/curiosity/Curiosity.cpp