| |
| Home | |
| FAQ | |
| Player | |
| Utilities | |
| Stage | |
| Gazebo | |
| Contrib | |
| Documentation | |
| Publications | |
| Contributors | |
| Users |
| Project |
| Download |
| Bugs/Feedback |
| Mailing lists |
| Radish |
| Old news |
| Old stuff |
 |
Blimp.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 a PennBlimp 00022 * Author: Pranav Srivastava 00023 * Date: 14 Sep 2003 00024 * CVS: $Id: Blimp.hh,v 1.9 2004/09/08 21:32:52 section314 Exp $ 00025 */ 00026 00027 #ifndef BLIMP_HH 00028 #define BLIMP_HH 00029 00030 #include "Model.hh" 00031 00032 // Forward declarations 00033 class Body; 00034 class SliderJoint; 00035 class Geom; 00036 00037 //typedef struct _gz_position_t gz_position_t; 00038 00039 00040 class Blimp : public Model 00041 { 00042 // Construct, destructor 00043 public: Blimp( World *world ); 00044 public: virtual ~Blimp(); 00045 00046 // Load the model 00047 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00048 00049 // Initialize the model 00050 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00051 00052 // Finalize the model 00053 public: virtual int Fini(); 00054 00055 // Update the model state 00056 public: virtual void Update( double step ); 00057 00058 // Update the odometry 00059 private: void UpdateOdometry( double step ); 00060 00061 // Load ODE stuff 00062 private: int OdeLoad( WorldFile *file, WorldFileNode *node ); 00063 00064 // Initialize ODE 00065 private: int OdeInit( WorldFile *file, WorldFileNode *node ); 00066 00067 // Finalize ODE 00068 private: int OdeFini(); 00069 00070 // Initialize the external interface 00071 private: int IfaceInit(); 00072 00073 // Finalize the external interface 00074 private: int IfaceFini(); 00075 00076 // Get commands from the external interface 00077 private: void IfaceGetCmd(); 00078 00079 // Update the data in the external interface 00080 private: void IfacePutData(); 00081 // Get commands from the external interface 00082 // private: void Iface3dGetCmd(); 00083 00084 // Update the data in the external interface 00085 //private: void Iface3dPutData(); 00086 // Robot parameters 00087 private: double total_mass; 00088 00089 // ODE components 00090 // don't think i need so many.. just one body the capped cylinder..and maybe a fixed joint to hold up the blimp gondola underneath. 00091 private: Body *body,*counter,*counter2; 00092 private: SliderJoint *counterJoint,*counterJoint2; 00093 private: Geom *bodyGeoms[8]; 00094 00095 // External interface 00096 private: gz_position_t *iface; 00097 //private: gz_position3d_t *iface3d; 00098 private: bool is3d; 00099 private: bool first_run; // just so that i can get everything that is a child and retain its pointer. 00100 00101 // moving the blimp in 3d. 00102 private: double xspeed,yspeed,zspeed,rollspeed,yawspeed,pitchspeed; 00103 00104 // true position .. is there an odometric thing for position in the sky?? 00105 private: double xpos,ypos,zpos,roll,pitch,yaw; 00106 00107 }; 00108 00109 #endif
