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Pioneer2Sonars.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: Pioneer2Sonars model
 * Author: Carle Cote (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada)
 * Date: 23 february 2004
 * CVS:
 *
 * TODO : Support power command
 *
 * Modification
 * By:                     Description                            Date
 * Carle Cote              Add data structure for                 March 24, 2004
 *                         sonars position and direction
 */

#ifndef P2SONARS_HH
#define P2SONARS_HH

#include "gazebo.h"
#include "Model.hh"
#include "Body.hh"

class RayGeom;
class RayProximity;

typedef struct gz_sonars gz_sonars_t;

class Pioneer2Sonars : public Model
{
  //Constructor
  public: Pioneer2Sonars( World *world );
  
  // Destructor
  public: virtual ~Pioneer2Sonars();

  // Load the sensor
  public: int Load( WorldFile *file, WorldFileNode *node );
  
  // Initialize the sensor
  public: int Init( WorldFile *file, WorldFileNode *node );

  // Finalize the sensor
  public: int Fini();
  
  // Load ODE stuff
  private: int OdeLoad( WorldFile *file, WorldFileNode *node );

  // Initialize ODE
  private: int OdeInit( WorldFile *file, WorldFileNode *node );

  // Finalize ODE
  private: int OdeFini();
  
  // Initialize the external interface
  private: int IfaceInit();

  // Finalize the external interface
  private: int IfaceFini();

  // Get commands from the external interface
  private: void IfaceGetCmd();

  // Update the data in the external interface
  private: void IfacePutData();  

  // Update the sensor information; returns non-zero if sensor data has
  // been updated
  public: void Update( double step );
    
  // External interface
  private: gz_sonars_t *sonars_iface;
  
  // ODE components
  private: RayProximity* proximitySensors[16];  
  private: Body* body;
  
  // Sonars positions (x,y,z)
  private: GzVector pos[16];
  // Sonars directions (degrees)
  private: int dir[16];
  
};

#endif

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Last updated 12 September 2005 21:38:45