Changeset 377 in flair-src for trunk/lib/FlairSimulator/src/TwoWheelRobot.cpp

Timestamp:

12/16/20 09:40:44 (3 years ago)

Author:

Sanahuja Guillaume

Message:

ugv update

File:

• trunk/lib/FlairSimulator/src/TwoWheelRobot.cpp (modified) (4 diffs)

trunk/lib/FlairSimulator/src/TwoWheelRobot.cpp

@@ -50 +50 @@
   m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1,1,0.2);
   size = new DoubleSpinBox(setup_tab->NewRow(), "size (m):", 0, 20, 0.1,1,0.1);
+  t_speed = new DoubleSpinBox(setup_tab->NewRow(), "translational speed (m/s):",
+                              0, 5, 0.1);
+  r_speed = new DoubleSpinBox(setup_tab->NewRow(), "rotational speed (deg/s):",
+                              0, 180, 10);
   
   
@@ -56 +60 @@
   bodyColorG = new SpinBox(visual_tab->LastRowLastCol(), "arm color (G):", 0, 255, 1,0);
   bodyColorB = new SpinBox(visual_tab->LastRowLastCol(), "arm color (B):", 0, 255, 1,0);
+  
+ 
   
   controls = new SimuUgvControls(this, name, modelId,0);
@@ -155 +161 @@
 
   controls->GetControls(&speed,&turn,&motorTime);
-          
+         
   // compute quaternion from W
   // Quaternion derivative: dQ = 0.5*(  Q*Qw)
   state[0].W.x=0;
   state[0].W.y=0;
-  state[0].W.z=turn;
+  state[0].W.z=turn*r_speed->Value();
   Quaternion dQ = state[-1].Quat.GetDerivative(state[0].W);
 
@@ -167 +173 @@
   state[0].Quat.Normalize();
 
-  Vector3D<double> dir = Vector3D<double>(speed,0,0);
+  Vector3D<double> dir = Vector3D<double>(speed*t_speed->Value(),0,0);
   dir.Rotate(state[0].Quat);
   state[0].Pos = state[-1].Pos + dT() * dir;