RoboidControl.Unity.DifferentialDrive Class Reference

Detailed Description

The Unity representation of a Roboid Control differential drive.

Inheritance diagram for RoboidControl.Unity.DifferentialDrive:

Public Member Functions
void	UpdateThing ()
	Update the Unity state.

Static Public Member Functions
static DifferentialDrive	Create (RoboidControl.DifferentialDrive coreDrive)
	Create the Unity representation.
static Thing	Create (RoboidControl.Thing core)
	Create a Unity representation of a Thing.

Public Attributes
Motor	leftMotor
Motor	rightMotor
Wheel	leftWheel
	The left wheel of the differential drive.
Wheel	rightWheel
	The right wheel of the differential drive.
SphereCollider	casterWheel
	The caster wheel to keep the differential drive horizontal.
Participant	owner
	The owner of this thing.

Protected Member Functions
virtual void	Start ()
	Start the Unity representation.
override void	HandleBinary ()
	Handle the binary event indicating a configuration change.
override void	FixedUpdate ()
	Update the Unity representation state.
void	Init (RoboidControl.Thing core)
	Initialize the Thing.
virtual void	Update ()
	Update the Unity rendering.
virtual void	HandlePose ()
	Handle a Pose event.

Properties
RoboidControl.DifferentialDrive	coreDrive [get]
	The core differential drive.
RoboidControl.Thing	core [get, set]
	The core C# thing.

Member Function Documentation

Create() [1/2]

static DifferentialDrive RoboidControl.Unity.DifferentialDrive.Create ( RoboidControl::DifferentialDrive  coreDrive )

static

Create the Unity representation.

Parameters

coreDrive

The core touch sensor

Returns

The Unity representation of the touch sensor

This uses a 'DifferentialDrive' resource when available for the Unity representation. If this is not available, a default representation is created.

HandleBinary()

override void RoboidControl.Unity.DifferentialDrive.HandleBinary ( )

protectedvirtual

Handle the binary event indicating a configuration change.

Reimplemented from RoboidControl.Unity.Thing.

FixedUpdate()

override void RoboidControl.Unity.DifferentialDrive.FixedUpdate ( )

protectedvirtual

Update the Unity representation state.

Reimplemented from RoboidControl.Unity.Thing.

Create() [2/2]

static Thing RoboidControl.Unity.Thing.Create ( RoboidControl::Thing  core )

staticinherited

Create a Unity representation of a Thing.

Parameters

core	The core of the thing

Returns

The created thing

Init()

void RoboidControl.Unity.Thing.Init ( RoboidControl::Thing  core )

protectedinherited

Initialize the Thing.

Parameters

core	The core of the thing

This affects the parent and pose of the thing

HandlePose()

virtual void RoboidControl.Unity.Thing.HandlePose ( )

protectedvirtualinherited

Handle a Pose event.

This can update the position and/or orientation when the velocity of the thing is zero. If a velocity is not zero, the position and/or orientation update will be ignored