roboticarm.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* 00022 * Desc: EXAMPLE ONLY for dynamically-loaded models 00023 * Author: Andrew Howard 00024 * Date: 14 Jul 2004 00025 * CVS: $Id: roboticarm.hh,v 1.1.1.1 2005/12/24 06:55:31 jjz5 Exp $ 00026 */ 00027 00028 #ifndef ROBOTICARM_HH 00029 #define ROBOTICARM_HH 00030 00031 #include <gazebo/Body.hh> 00032 #include <gazebo/Model.hh> 00033 #include <gazebo/World.hh> 00034 #include <gazebo/HingeJoint.hh> 00035 #include <gazebo/Body.hh> 00036 #include <gazebo/CylinderGeom.hh> 00037 #include <gazebo/BoxGeom.hh> 00038 #include <gazebo/ModelFactory.hh> 00039 00040 class roboticarm : public Model 00041 { 00042 // Constructor 00043 public: roboticarm( World *world ); 00044 00045 // Destructor 00046 public: virtual ~roboticarm(); 00047 00048 // Load stuff 00049 public: int Load( WorldFile *file, WorldFileNode *node ); 00050 00051 // Initialize stuff 00052 public: int Init( WorldFile *file, WorldFileNode *node ); 00053 00054 // Finalize stuff 00055 public: int Fini(); 00056 00057 // Get commands from the external interface 00058 private: void IfaceGetCmd(); 00059 00060 // Update the data in the external interface 00061 private: void IfacePutData(); 00062 00063 // Do updates 00064 public: void Update( double step ); 00065 00066 private: Body *baseBody; 00067 private: Body *motorBody; 00068 private: HingeJoint *panJoint; 00069 #define NUMSEGS 4 00070 HingeJoint *joints[NUMSEGS-1]; 00071 00072 double time; 00073 00074 double angles[NUMSEGS]; 00075 00076 private: bool already; 00077 00078 public: 00079 void InitBody(); 00080 void InitDebug(); 00081 int c; 00082 00083 Geom* getCylinder(Body*, double rad, double height, GzVector, double, GzColor); 00084 Geom* getBox(Body*, double x, double y, double z, GzVector, double, GzColor); 00085 00086 00087 00088 00089 }; 00090 00091 #endif
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