66 lines
2.0 KiB
C++
66 lines
2.0 KiB
C++
// Copyright 1996-2024 Cyberbotics Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// https://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*
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* Description: CPP wrapper of the car library
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* Comments: Sponsored by the CTI project RO2IVSim
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* (http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles)
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*/
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#ifndef CAR_HPP
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#define CAR_HPP
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#include <webots/vehicle/Driver.hpp>
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namespace webots {
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class Car : public Driver {
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public:
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typedef enum { TRACTION = 0, PROPULSION, FOUR_BY_FOUR } Type;
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typedef enum { COMBUSTION_ENGINE = 0, ELECTRIC_ENGINE, PARALLEL_HYBRID_ENGINE, POWER_SPLIT_HYBRID_ENGINE } EngineType;
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typedef enum { WHEEL_FRONT_RIGHT = 0, WHEEL_FRONT_LEFT, WHEEL_REAR_RIGHT, WHEEL_REAR_LEFT, WHEEL_NB } WheelIndex;
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Car() : Driver() {}
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virtual ~Car() {}
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Type getType();
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EngineType getEngineType();
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void setIndicatorPeriod(double period);
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double getIndicatorPeriod();
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bool getBackwardsLights();
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bool getBrakeLights();
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double getTrackFront();
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double getTrackRear();
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double getWheelbase();
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double getFrontWheelRadius();
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double getRearWheelRadius();
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double getWheelEncoder(WheelIndex wheel);
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double getWheelSpeed(WheelIndex wheel);
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void setLeftSteeringAngle(double angle);
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void setRightSteeringAngle(double angle);
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double getRightSteeringAngle();
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double getLeftSteeringAngle();
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void enableLimitedSlipDifferential(bool enable);
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void enableIndicatorAutoDisabling(bool enable);
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};
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} // namespace webots
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#endif // CAR_HPP
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