Transmission and Model Abstraction #2
Description
grpl::model needs to be abstracted. At the moment, it only really supports DC motor transmission, and all the drivetrain models are stuck into an uber-class of coupled_drivetrain
The abstraction should meet the following requirements:
- There should be a class representing the physics and kinematics of the coupled drivetrain (i.e. the velocity and accceleration limits, and electrical characteristics). This should have some member variables for the wheels, transmissions as well as the dimensions of the drivetrain.
- The profile generation for the drivetrain can be abstracted somewhat, that is, separate from the main physics of the model.
- Transmission should also be able to be abstracted to support other types of transmissions (like shifting gearboxes). We can also add some quality-of-life compositions, like a gearbox or wheel.