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TruthWidget.hh

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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 /* Desc: Model for getting truth values
00022  * Author: Chris Jones
00023  * Date: Nov 2003
00024  * CVS: $Id: TruthWidget.hh,v 1.8 2004/08/12 00:16:04 inspectorg Exp $
00025  */
00026 
00027 #ifndef TRUTHWIDGET_HH
00028 #define TRUTHWIDGET_HH
00029 
00030 #include "Model.hh"
00031 
00032 typedef struct gz_truth gz_truth_t;
00033 
00034 
00035 class TruthWidget : public Model
00036 {
00037   // Constructor, destructor
00038   public: TruthWidget( World *world );
00039   public: virtual ~TruthWidget();
00040   
00041   // Load the model
00042   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00043 
00044   // Initialize the model
00045   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00046 
00047   // Finalize the model
00048   public: virtual int Fini();
00049 
00050   // Update the model state
00051   public: virtual void Update( double step );
00052 
00053   // Initialize the external interface
00054   private: int IfaceInit();
00055 
00056   // Finalize the external interface
00057   private: int IfaceFini();
00058 
00059   // Get commands from the interface
00060   private: bool IfaceGetCmd(GzVector *pos, GzQuatern *rot);
00061 
00062   // Update the data in the external interface
00063   private: void IfacePutData();
00064 
00065   // External interfaces
00066   private: gz_truth_t *truth_iface;
00067 
00068   // Body that we must have
00069   private: Body *body;
00070 };
00071 
00072 
00073 #endif

Last updated 12 September 2005 21:38:45