DifferentialDriveEntity Members

Microsoft Robotics Class Reference

The DifferentialDriveEntity type exposes the following members.

Constructors

	Name	Description
	DifferentialDriveEntity	Default constructor

Methods

	Name	Description
	AddShapeToPhysicsEntity	Adds a shape dynamically to an already initialized physics entity (Inherited from VisualEntity.)
	BeginBatchRender(String, array Fields   Name Description CASTER_WHEEL_POSITION Caster wheel position CASTER_WHEEL_RADIUS Caster wheel radius CASTER_WHEEL_WIDTH Caster wheel width CHASSIS_CLEARANCE Distance from ground of chassis CHASSIS_DIMENSIONS Chassis dimensions FRONT_AXLE_DEPTH_OFFSET distance of the axle from the center of robot FRONT_WHEEL_MASS Mass of front wheels FRONT_WHEEL_RADIUS Radius of front wheels FRONT_WHEEL_WIDTH Front wheels width LEFT_FRONT_WHEEL_POSITION Left front wheel position MASS Chassis mass in kilograms NeedsReplacement Internal use: marks this entity for replacement (Inherited from Entity.) RIGHT_FRONT_WHEEL_POSITION Right front wheel position State State (Inherited from Entity.) SuspendUpdates Internal use: suspends physics engine updates on this entity (Inherited from Entity.) Properties   Name Description AddsShapeToParent Indicates that this entity must be a child entity and that it adds one or more shapes to its parent rather than defining its own shapes. (Inherited from VisualEntity.) CasterWheelShape Caster wheel physics shape ChassisShape Chassis physics shapes ChildCount Number of children, used in serialization and deserialization of VisualEntities (Inherited from VisualEntity.) Children Runtime only list of child entities so simulation engine can render and update on our behalf (Inherited from VisualEntity.) CurrentHeading Current heading, in radians, of robot base DeferredTaskQueue To avoid contention with physics simulation which runs in a different thread than what the entity APIs might get called in, we just package up the parameters and queue CCR tasks. During the Update method we then process the queued requests (Inherited from VisualEntity.) Device Current graphics device (Inherited from VisualEntity.) Effect Vertex and pixel shader effect file (*.fx). If not specified, default effect is used (Inherited from VisualEntity.) EmbeddedResourceAssemblies List of assemblies contain embedded resources this entity needs to be properly loaded (Inherited from VisualEntity.) EntityBoundingSphere Bounding sphere approximating collision mesh for entity (Inherited from VisualEntity.) EntityState This field exposes the entity state so that the simulation editor can access it. (Inherited from VisualEntity.) EntityWorldBoundingSphere Bounding sphere approximating collision mesh for entity (Inherited from VisualEntity.) Flags Flags which define the rendering and behavior of this entity. (Inherited from VisualEntity.) HasBeenInitialized true if this VisualEntity has been successfully initialized (Inherited from VisualEntity.) InitError Contains a description of any errors that occurred during initialization (Inherited from VisualEntity.) InternalHandle Simulation internal use (Inherited from Entity.) IsEnabled True if drive mechanism is enabled LeftWheel Left wheel child entity Meshes DirectX meshes used for rendering the entity in 3D (Inherited from VisualEntity.) MeshRotation Gets or sets the rotation of the entity meshes (Inherited from VisualEntity.) MeshScale Gets or sets the scale of the entity meshes (Inherited from VisualEntity.) MeshTransform Get the local transform the entity uses on its meshes (Inherited from VisualEntity.) MeshTranslation Gets or sets the translation of the entity meshes (Inherited from VisualEntity.) MotorTorqueScaling Scaling factor to apply to motor torque requests Parent Optional Parent entity. (Inherited from VisualEntity.) ParentJoint Gets the joint that connects this entity to its parent. Null if either this or parent do not have physics entity. (Inherited from VisualEntity.) PhysicsEngine Physics Engine instance (Inherited from VisualEntity.) PhysicsEntity Instance used for modifying and inspecting physics simulation behavior for this entity (Inherited from VisualEntity.) PhysicsJoint Gets the joint that connects this entity to its parent. Null if either this or parent do not have physics entity. (Inherited from VisualEntity.) Position This field exposes the entity position as an xna.Vector3 so that the simulation editor can access it. (Inherited from VisualEntity.) ReferenceFrame Specifies the meaning of the entity's position This is used for serialization and to help with joining child entities. It is not meant to be changed outside of the simulation engine. (Inherited from VisualEntity.) RenderPhysicsPrimitives True if simplified rendering (using just physics geometry) is requests (Inherited from VisualEntity.) RightWheel Right wheel child entity RotateDegreesAngleThreshold Threshold, in radians, for stopping rotation Rotation This field exposes the entity rotation so that the simulation editor can access it. (Inherited from VisualEntity.) RotationAngles This field exposes the entity rotation converted to Euler angles from the orientation quaternion. (Inherited from VisualEntity.) RotationAnglesInWorldSpace This field exposes the entity rotation in world space converted to Euler angles from the orientation quaternion. (Inherited from VisualEntity.) ServiceContract The contract for a service associated with this entity. (Inherited from VisualEntity.) TimeoutSeconds The timeout for DriveDistance and RotateDegrees commands in seconds. UsesSphereCulling this entity uses frustum culling on rendering affected by children in this entity's hierarchy default is true, but should be false for (special effects, terrain, invisible objs) if true, a valid bounding sphere should be present we should make this internal, since we expose the DisableViewFrustumCulling flag, and this flag is with respect to the the hierarchy which the user shouldn't be able to set however, making this internal could is a breaking change to user code, do we really want to do this -- not at the moment at least (Inherited from VisualEntity.) WheelMesh Mesh file for front wheels World World transform (Inherited from VisualEntity.) See Also DifferentialDriveEntity Class Microsoft.Robotics.Simulation.Engine Namespace