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ClodBuster.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 ClodBuster * Author: Pranav Srivastava * Date: 4 Sep 2003 * CVS: $Id: ClodBuster.hh,v 1.9 2004/08/12 00:16:04 inspectorg Exp $ */ #ifndef CLODBUSTER_HH #define CLODBUSTER_HH #include "Model.hh" // Forward declarations class Body; class HingeJoint; class Geom; //class SphereGeom; //class GeomData; typedef struct gz_position gz_position_t; class ClodBuster : public Model { // Construct, destructor public: ClodBuster( World *world ); public: virtual ~ClodBuster(); // 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 ); // Update the odometry private: void UpdateOdometry( double step ); // Load ODE stuff private: int OdeLoad( WorldFile *file, WorldFileNode *node ); // Initialize ODE private: int OdeInit( WorldFile *file, WorldFileNode *node ); // Finalize ODE private: int OdeFini(); // Initialize the external interface private: int IfaceInit(); // Finalize the external interface private: int IfaceFini(); // Get commands from the external interface private: void IfaceGetCmd(); // Update the data in the external interface private: void IfacePutData(); // Robot parameters private: double wheelSep, wheelDiam; // ODE components private: Body *body; private: Geom *bodyGeoms[4]; private: Body *tires[4]; private: Body *stubs[4]; private: HingeJoint *wjoints[4]; private: HingeJoint *sjoints[4]; // External interface private: gz_position_t *iface; // Wheel speeds (left and right wheels are paired) private: double wheelSpeed[2]; // Odometric pose estimate private: double odomPose[3]; // Encoder counts private: double encoders[2]; private: bool raw_encoder_position; }; #endif

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

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