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WheelChair.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: Model for a ClodBuster 00022 * Author: Pranav Srivastava 00023 * Date: 4 Sep 2003 00024 * CVS: $Id: WheelChair.hh,v 1.12 2004/11/12 18:00:46 natepak Exp $ 00025 */ 00026 00027 #ifndef WHEELCHAIR_HH 00028 #define WHEELCHAIR_HH 00029 00030 #include "Model.hh" 00031 00032 // Forward declarations 00033 class Body; 00034 class Hinge2Joint; 00035 class Geom; 00036 class SphereGeom; 00037 class GeomData; 00038 00039 00040 class WheelChair : public Model 00041 { 00042 // Construct, destructor 00043 public: WheelChair( World *world ); 00044 public: virtual ~WheelChair(); 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 odometry 00059 private: void UpdateOdometry( double step ); 00060 00061 // Load ODE stuff 00062 private: int OdeLoad( WorldFile *file, WorldFileNode *node ); 00063 00064 // Initialize ODE 00065 private: int OdeInit( WorldFile *file, WorldFileNode *node ); 00066 00067 // Finalize ODE 00068 private: int OdeFini(); 00069 00070 // Initialize the external interface 00071 private: int IfaceInit(); 00072 00073 // Finalize the external interface 00074 private: int IfaceFini(); 00075 00076 // Get commands from the external interface 00077 private: void IfaceGetCmd(); 00078 00079 // Update the data in the external interface 00080 private: void IfacePutData(); 00081 00082 // Robot parameters 00083 private: double wheelSep,wheelDiam; 00084 00085 // ODE components 00086 private: Body *body; 00087 private: Geom *bodyGeoms[8]; 00088 private: Body *tires[4]; 00089 private: Hinge2Joint *joints[4]; 00090 00091 // External interface 00092 private: gz_position_t *iface; 00093 00094 // Wheel speeds (left and right wheels are paired) 00095 private: double wheelSpeed[2]; 00096 00097 // Odometric pose estimate 00098 private: double odomPose[3]; 00099 }; 00100 00101 #endif
