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Shrimp.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 Shrimp * Author: Stijn Opheide, Jef Marien, Koen Jans * Date: December 2003 * CVS: $Id: Shrimp.hh,v 1.7 2004/11/16 04:47:08 inspectorg Exp $ */ #ifndef SHRIMP_HH #define SHRIMP_HH #include "Model.hh" // Forward declarations class Body; class HingeJoint; class ShrimpSideFork; class Shrimp : public Model { // Construct, destructor public: Shrimp( World *world ); public: virtual ~Shrimp(); // 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 ); // Get commands from the external interface private: void PositionGetCmd(); // Update the data in the external interface private: void PositionPutData(); // Robot parameters private: double wheelSep, wheelDiam; // Update time private: double updatePeriod, updateTime; // ODE components private: Body *chassis; private: Body *wheels[4]; private: HingeJoint *wheelJoints[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]; private: Body *bovenBalk; private: Body *backWheel; private: ShrimpSideFork *leftFork, *rightFork; private: Body *forkPart1; private: Body *forkPart1b; private: Body *forkPart2; private: Body *frontwheel; private: HingeJoint *forkJoint; private: HingeJoint *forkJointb; private: HingeJoint *forkforkJoint; private: HingeJoint *forkforkbJoint; private: HingeJoint *frontwheelJoint; }; #endif

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

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