| |
| Home | |
| FAQ | |
| Player | |
| Utilities | |
| Stage | |
| Gazebo | |
| Contrib | |
| Documentation | |
| Publications | |
| Contributors | |
| Users |
| Project |
| Download |
| Bugs/Feedback |
| Mailing lists |
| Radish |
| Old news |
| Old stuff |
 |
GarminGPS.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: A Very Basic Model for a Garmin GPS 00022 * Author: Pranav Srivastava 00023 * Date: 22nd October 00024 * CVS: $Id: GarminGPS.hh,v 1.8 2004/11/14 07:39:04 inspectorg Exp $ 00025 */ 00026 00027 #ifndef GARMINGPS_HH 00028 #define GARMINGPS_HH 00029 00030 #if HAVE_PROJ4 00031 #include <projects.h> 00032 #endif 00033 00034 #include "Model.hh" 00035 00036 // Forward declarations 00037 typedef struct gz_gps gz_gps_t; 00038 00039 00040 class GarminGPS : public Model 00041 { 00042 // Construct, destructor 00043 public: GarminGPS( World *world ); 00044 public: virtual ~GarminGPS(); 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 data in the external interface 00059 private: void GpsPutData(); 00060 00061 // ODE components 00062 private: Body *body; 00063 00064 // Time settings 00065 private: double updatePeriod, updateTime; 00066 00067 // Simulated GPS data 00068 private: GzVector utm; 00069 private: double utc, lat, lon, alt; 00070 private: int sats, qual; 00071 private: double hdop, vdop; 00072 00073 #if HAVE_PROJ4 00074 // Projection 00075 private: PJ *proj; 00076 #endif 00077 00078 // External interface 00079 private: gz_gps_t *gps; 00080 }; 00081 00082 #endif
