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CarChassis.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 generic car chassis * Author: Andrew Howard * Date: 23 Oct 2004 * CVS: $Id: CarChassis.hh,v 1.1 2004/10/24 17:54:18 inspectorg Exp $ */ #ifndef CARCHASSIS_HH #define CARCHASSIS_HH #include "Model.hh" // Forward declarations class Body; class HingeJoint; class Hinge2Joint; class Geom; typedef struct gz_position gz_position_t; class CarChassis : public Model { public: CarChassis( World *world ); public: virtual ~CarChassis(); public: virtual int Load( WorldFile *file, WorldFileNode *node ); private: int OdeLoad( WorldFile *file, WorldFileNode *node ); public: virtual int Init( WorldFile *file, WorldFileNode *node ); public: virtual int Fini(); public: virtual void Update( double step ); // Get commands from the position interface private: void PositionGetCmd(); // Update the position interface private: void PositionPutData(); // ODE components private: Body *chassis; private: Body *frontLeftWheel, *frontRightWheel; private: Body *rearLeftWheel, *rearRightWheel; private: HingeJoint *rearLeftJoint, *rearRightJoint; private: Hinge2Joint *frontLeftJoint, *frontRightJoint; // Time of last update private: double updateTime; // External interface private: gz_position_t *position; // Command settings private: double cmdSpeed, cmdSteer; // Steering limits private: double steerMaxAngle; // Steering controller private: double steerKp, steerKd; }; #endif

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

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