Merge pull request #178 from pockerman/feat/174-add-diff-drive-robot-model

finish RL environment example with Chrono (#174)

Author: pockerman

CMakeLists.txt

@@ -30,11 +30,11 @@ OPTION(ENABLE_WEBOTS OFF)
 # configure packages
 SET(ENABLE_EXAMPLES ON)
 SET(ENABLE_TESTS OFF)
-SET(ENABLE_CHRONO ON)
 SET(ENABLE_OPENCV ON)
 SET(ENABLE_MQTT ON)
 SET(BITRL_LOG ON)
 SET(BITRL_IRRLICHT ON)
+SET(ENABLE_CHRONO ON)
 
 # build options
 SET(CMAKE_BUILD_TYPE "Release")
@@ -143,6 +143,7 @@ INCLUDE_DIRECTORIES(/usr/local/include/) # mqtt
 INCLUDE_DIRECTORIES(src/)
 
 FILE(GLOB SRCS src/bitrl/*.cpp
+		src/bitrl/boards/arduino/*.cpp
 		src/bitrl/network/*.cpp
 		src/bitrl/sensors/*.cpp
 		src/bitrl/sensors/messages/*.cpp
@@ -170,12 +171,13 @@ FILE(GLOB SRCS src/bitrl/*.cpp
 		src/bitrl/utils/*.cpp
 		src/bitrl/utils/io/*.cpp
 		src/bitrl/utils/maths/statistics/distributions/*.cpp
+		src/bitrl/utils/render/*.cpp
+		src/bitrl/systems/*.cpp
 		#src/bitrl/utils/geometry/*.cpp
 		#src/bitrl/utils/geometry/shapes/*.cpp
 		#src/bitrl/utils/geometry/mesh/*.cpp
-		#src/bitrl/utils/trajectory/*.cpp
-		src/bitrl/boards/arduino/*.cpp
-		src/bitrl/systems/*.cpp
+		#src/bitrl/utils/trajectory/*.cp
+
    )
 
 ADD_LIBRARY(bitrllib SHARED ${SRCS})

config.h.in

@@ -19,6 +19,9 @@
 /*Use Chrono*/
 #cmakedefine BITRL_CHRONO
 
+/*Use Irrlicht for visualization*/
+#cmakedefine BITRL_IRRLICHT
+
 /*Use OpenCV*/
 #cmakedefine BITRL_OPENCV
 

examples/example_12/example_12.cpp

@@ -194,7 +194,6 @@ int main() {
 
     // create the visualization system
     chrono::irrlicht::ChVisualSystemIrrlicht vis;
-
     vis.AttachSystem(&system);
     vis.SetWindowSize(1280,720);
     vis.SetWindowTitle("Example 12 Differential Drive Robot");

examples/example_12/example_12.md

@@ -17,7 +17,7 @@ Running a simulation with Chrono requires that we create a _ChSystem_ instance
 A _ChSystem_ is an abstract class. The Chrono library provides the following subclasses:
 
 - _ChSystemNSC_ for Non Smooth Contacts (NSC): in case of contacts a complementarity solver will take care of them using non-smooth dynamics; this is very efficient even with large time steps.
-- _ChSystemSMC_ for SMooth Contacts (SMC): contacts are handled using penalty methods, i.e. contacts are deformable.
+- _ChSystemSMC_ for Smooth Contacts (SMC): contacts are handled using penalty methods, i.e. contacts are deformable.
 
 Note that if there are no contacts or collisions in your system, it is indifferent to use _ChSystemNSC_ or _ChSystemSMC_.
 
@@ -59,7 +59,7 @@ $$
 v = \frac{r}{2}(\omega_R + \omega_L)
 $$
 
-where \f$r\f$ is the radius of the wheel and \f$\omega_i\f$ if the angular velocity of motor \f$\i\f$ in rad/s.
+where \f$r\f$ is the radius of the wheel and \f$\omega_i\f$ if the angular velocity of motor \f$i\f$ in rad/s.
 We can use this relationship in a control simulation in order to control either the linear velocity or the motor speed.
 
 @code{.cpp}