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Wifi.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: Sensor for getting truth values * Author: Chris Jones * Date: Nov 2003 * CVS: $Id: Wifi.hh,v 1.4 2004/11/16 21:41:19 inspectorg Exp $ */ #ifndef WIFI_HH #define WIFI_HH #define MAX_MODELS 10 #include "gazebo.h" #include "World.hh" #include "WorldFile.hh" #include "RayGeom.hh" #include "Sensor.hh" class Wifi : public Sensor { // Constructor, destructor public: Wifi( World *world ); public: virtual ~Wifi(); // 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 ); // Get the canonical body for this model public: virtual Body *GetBody() {return NULL;} // Initialize the external interface private: int IfaceInit(); // Finalize the external interface private: int IfaceFini(); // Get commands from the interface private: bool IfaceGetCmd(GzVector *pos, GzQuatern *rot); // Update the data in the external interface private: void IfacePutData(); private: int RayInit(); private: static void UpdateCallback( void *data, dGeomID o1, dGeomID o2 ); private: bool first_run; private: int totalnodes; // number of wifi nodes in the environment // ray private: RayGeom *ray,*ray1; // Ray space for collision detector private: dSpaceID superSpaceId; private: dSpaceID raySpaceId; private: WorldModel wifi_models[MAX_MODELS]; // External interfaces private: const char *id; private: gz_wifi_t *wifi_iface; private: gz_wifi_link_t links[GAZEBO_WIFI_MAX_LINKS]; private: int link_count; // same as total_nodes? yes. private: const char *ip; // ip for self. private: double m; // m is the scale factor to scale the same response to a smaller radius. }; #endif

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

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