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B21R.hh Go to the documentation of this file. /* * 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: Model for a B21R * Author: Andrew Howard * Date: 8 May 2003 * CVS: $Id: B21R.hh,v 1.1 2005/05/04 00:52:16 natepak Exp $ */ #ifndef B21R_HH #define B21R_HH #include "Model.hh" // Forward declarations class Body; class HingeJoint; class BallJoint; class RayProximity; class B21R : public Model { // Construct, destructor public: B21R( World *world ); public: virtual ~B21R(); // Load the model public: virtual int Load( WorldFile *file, WorldFileNode *node ); // Initialize the model public: virtual int Init( WorldFile *file, WorldFileNode *node ); // Finalize the model public: virtual int Fini(); // Load ODE stuff private: int OdeLoad( WorldFile *file, WorldFileNode *node ); // Load sonar stuff private: int LoadSonar( WorldFile *file, WorldFileNode *node ); // Update the model state public: virtual void Update( double step ); // Update the odometry private: void UpdateOdometry( double step ); // Get commands from the external interface private: void GetPositionCmd(); // Update the data in the external interface private: void PutPositionData(); // Update the data in the power interface private: void PutPowerData(); // Update the data in the sonar interface private: void PutSonarData(); // Update parameters private: double updatePeriod, updateTime; // Robot parameters private: double wheelSep, wheelDiam; // Sonar configuration private: double sonarMaxRange; private: GzVector pos[48]; private: double dir[48]; // ODE components private: Body *chassis; private: Body *wheels[4]; private: HingeJoint *wheelJoints[2]; private: BallJoint *wheel2Joints[2]; // Sensor for sonar ranging private: RayProximity *sonarSensor; // External interface private: gz_position_t *position_iface; private: gz_power_t *power_iface; private: gz_sonar_t *sonar_iface; // Wheel speeds private: double wheelSpeed[2]; // Odometric pose estimate private: double odomPose[3]; // Odometric speed estimate private: double odomVel[3]; // Battery level private: double batteryLevel; // Coefficients of battery discharge curve private: double batteryCurve[2]; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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