88 lines
2.5 KiB
C
88 lines
2.5 KiB
C
/*
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* 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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/*
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* Description: Car library to be used with the 'Car' proto (or any proto inherited by 'Car')
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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_H
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#define CAR_H
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#include <webots/types.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum { WBU_CAR_TRACTION = 0, WBU_CAR_PROPULSION = 1, WBU_CAR_FOUR_BY_FOUR = 2 } WbuCarType;
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typedef enum {
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WBU_CAR_COMBUSTION_ENGINE = 0,
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WBU_CAR_ELECTRIC_ENGINE = 1,
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WBU_CAR_PARALLEL_HYBRID_ENGINE = 2,
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WBU_CAR_POWER_SPLIT_HYBRID_ENGINE = 3
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} WbuCarEngineType;
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typedef enum {
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WBU_CAR_WHEEL_FRONT_RIGHT = 0,
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WBU_CAR_WHEEL_FRONT_LEFT = 1,
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WBU_CAR_WHEEL_REAR_RIGHT = 2,
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WBU_CAR_WHEEL_REAR_LEFT = 3,
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WBU_CAR_WHEEL_NB
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} WbuCarWheelIndex;
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void wbu_car_init();
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void wbu_car_cleanup();
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WbuCarType wbu_car_get_type();
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WbuCarEngineType wbu_car_get_engine_type();
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void wbu_car_set_indicator_period(double period);
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double wbu_car_get_indicator_period();
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bool wbu_car_get_backwards_lights();
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bool wbu_car_get_brake_lights();
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double wbu_car_get_track_front();
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double wbu_car_get_track_rear();
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double wbu_car_get_wheelbase();
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double wbu_car_get_front_wheel_radius();
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double wbu_car_get_rear_wheel_radius();
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double wbu_car_get_wheel_encoder(WbuCarWheelIndex wheel_index);
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double wbu_car_get_wheel_speed(WbuCarWheelIndex wheel_index);
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void wbu_car_set_left_steering_angle(double angle);
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void wbu_car_set_right_steering_angle(double angle);
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double wbu_car_get_right_steering_angle();
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double wbu_car_get_left_steering_angle();
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void wbu_car_enable_limited_slip_differential(bool enable);
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void wbu_car_enable_indicator_auto_disabling(bool enable);
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// kept for backward compatibility (Webots R2018a)
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typedef WbuCarType wbu_car_type;
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typedef WbuCarEngineType wbu_car_engine_type;
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typedef WbuCarWheelIndex wbu_car_wheel_index;
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#ifdef __cplusplus
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}
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#endif
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#endif // CAR_H
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