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AvatarHeli.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 /* Desc: Model for the USC AVATAR helicopter 00022 * Author: Andrew Howard 00023 * Date: 8 Feb 2004 00024 * CVS: $Id: AvatarHeli.hh,v 1.8 2004/11/16 06:02:00 inspectorg Exp $ 00025 */ 00026 00027 #ifndef AVATARHELI_HH 00028 #define AVATARHELI_HH 00029 00030 #include "Model.hh" 00031 00032 00033 class AvatarHeli : public Model 00034 { 00035 // Construct, destructor 00036 public: AvatarHeli( World *world ); 00037 public: virtual ~AvatarHeli(); 00038 00039 // Load the model 00040 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00041 00042 // Initialize the model 00043 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00044 00045 // Finalize the model 00046 public: virtual int Fini(); 00047 00048 // Update the model state 00049 public: virtual void Update( double step ); 00050 00051 // Load ODE stuff 00052 private: int OdeLoad( WorldFile *file, WorldFileNode *node ); 00053 00054 // Get commands from the external interface 00055 private: void PositionGetCmd(); 00056 00057 // Update the data in the external interface 00058 private: void PositionPutData(); 00059 00060 // Update parameters 00061 private: double updatePeriod, updateTime; 00062 00063 // ODE components 00064 private: Body *body; 00065 00066 // Position interface 00067 private: gz_position_t *position; 00068 00069 // Commanded velocity 00070 private: GzVector cmdLinVel; 00071 private: GzVector cmdAngVel; 00072 }; 00073 00074 #endif
