SideFork.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: 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
Last updated 12 September 2005 21:38:45