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Differential_Position2d.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: Position2d controller for a Differential drive.
 * Author: Nathan Koenig
 * Date: 01 Feb 2007
 * SVN: $Id: Differential_Position2d.hh 198 2007-12-18 00:20:58Z natepak $
 */
#ifndef DIFFERENTIAL_POSITION2D_HH
#define DIFFERENTIAL_POSITION2D_HH

#include <map>

#include "Controller.hh"

namespace gazebo
{
  class HingeJoint;
  class Entity;
  class PositionIface;




class Differential_Position2d : public Controller
{
  public: Differential_Position2d(Entity *parent );

  public: virtual ~Differential_Position2d();

  protected: virtual void LoadChild(XMLConfigNode *node);

  protected: virtual void SaveChild(XMLConfigNode *node);

  protected: virtual void InitChild();

  protected: void ResetChild();

  protected: virtual void UpdateChild(UpdateParams &params);

  protected: virtual void FiniChild();

  private: void PutPositionData();

  private: void GetPositionCmd();

  private: PositionIface *myIface;

  private: Model *myParent;

  private: float wheelSep;

  private: float wheelDiam;

  private: float torque;

  private: float wheelSpeed[2];

  private: bool enableMotors;

  private: float odomPose[3];
  private: float odomVel[3];

  private: HingeJoint *joints[2];

};



}

#endif

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Last updated Aug 04 2007