CarChassis.hh

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 generic car chassis
00022  * Author: Andrew Howard
00023  * Date: 23 Oct 2004
00024  * CVS: $Id: CarChassis.hh,v 1.1 2004/10/24 17:54:18 inspectorg Exp $
00025  */
00026 
00027 #ifndef CARCHASSIS_HH
00028 #define CARCHASSIS_HH
00029 
00030 #include "Model.hh"
00031 
00032 // Forward declarations
00033 class Body;
00034 class HingeJoint;
00035 class Hinge2Joint;
00036 class Geom;
00037 typedef struct gz_position gz_position_t;
00038 
00039 
00041 class CarChassis : public Model
00042 {
00044   public: CarChassis( World *world );
00045 
00047   public: virtual ~CarChassis();
00048 
00050   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00051 
00053   private: int OdeLoad( WorldFile *file, WorldFileNode *node );
00054 
00056   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00057 
00059   public: virtual int Fini();
00060 
00062   public: virtual void Update( double step );
00063 
00064   // Get commands from the position interface
00065   private: void PositionGetCmd();
00066 
00067   // Update the position interface
00068   private: void PositionPutData();
00069   
00070   // ODE components
00071   private: Body *chassis;
00072   private: Body *frontLeftWheel, *frontRightWheel;
00073   private: Body *rearLeftWheel, *rearRightWheel;
00074   private: HingeJoint *rearLeftJoint, *rearRightJoint;
00075   private: Hinge2Joint *frontLeftJoint, *frontRightJoint;
00076 
00077   // Time of last update
00078   private: double updateTime;
00079   
00080   // External interface
00081   private: gz_position_t *position;
00082 
00083   // Command settings
00084   private: double cmdSpeed, cmdSteer;
00085 
00086   // Steering limits
00087   private: double steerMaxAngle;
00088 
00089   // Steering controller
00090   private: double steerKp, steerKd;
00091 };
00092 
00093 #endif
Last updated 12 September 2005 21:38:45