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SideFork.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: Sidefork for Shrimp model 00022 * Author: Stijn Opheide, Jef Marien, Koen Jans 00023 * Date: December 2003 00024 * CVS: $Id: SideFork.hh,v 1.3 2004/11/16 04:47:08 inspectorg Exp $ 00025 */ 00026 00027 #ifndef SIDEFORK_HH 00028 #define SIDEFORK_HH 00029 00030 class Body; 00031 00032 class ShrimpSideFork 00033 { 00034 00035 public: ShrimpSideFork(Model *model); 00036 public: virtual ~ShrimpSideFork(); 00037 public: virtual Body *GetTopBar(); 00038 public: virtual Body *GetBottomBar(); 00039 public: virtual Body *GetFrontBar(); 00040 public: virtual Body *GetBackBar(); 00041 public: virtual void Translate(double x, double y, double z); 00042 00043 00044 private: double wheelDiam; 00045 private: Body *topBar; 00046 private: Body *bottomBar; 00047 private: Body *frontBar; 00048 private: Body *backBar; 00049 private: Model *model; //the model where this fork belongs to 00050 private: HingeJoint *topFrontJoint, *topBackJoint, *bottomBackJoint, *bottomFrontJoint; 00051 00052 }; 00053 00054 #endif
