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CanonVCC4.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: A Canon VCC4 PTZ camera model * Author: Konstantinos Karantzis */ #ifndef CANONVCC4_HH #define CANONVCC4_HH #include "Body.hh" #include "Model.hh" // Forward declarations class Camera; class FrustrumGeom; class HingeJoint; class CanonVCC4 : public Model { // Constructor, destructor public: CanonVCC4( World *world ); public: virtual ~CanonVCC4(); // 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(); // Update the model state public: virtual void Update( double step ); // Load ODE stuff private: int OdeLoad( WorldFile *file, WorldFileNode *node ); // Update the data in the external interface private: void PutPtzData(); private: void PutCameraData(); private: void GetPtzCmd(); // ODE objects private: Body *body; private: Body *middle; private: Body *head; private: Geom *bodyGeoms[4]; private: Geom *lensGeom; private: HingeJoint *panJoint; private: HingeJoint *tiltJoint; // Frustrum for GUI feedback private: FrustrumGeom *frustrum; // External interfaces private: gz_camera_t *cameraIface; private: gz_ptz_t *ptzIface; // Horizontal field of view private: double hfov; // Zoom factor private: double zoomMin, zoomMax; // Gain terms for controllers private: double motionGain, zoomGain; // Commanded PTZ values private: double cmdPan, cmdTilt, cmdZoom; // Current zoom factor private: double zoom; // The camera sensor (does rendering) private: Camera *camera; // Time between ptz updates private: double ptzUpdatePeriod; private: double ptzUpdateTime; // Time between camera updates private: double cameraUpdatePeriod; private: double cameraUpdateTime; }; #endif

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

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