CanonVCC4.hh

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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: A Canon VCC4 PTZ camera model
00022  * Author: Konstantinos Karantzis
00023  */
00024 
00025 #ifndef CANONVCC4_HH
00026 #define CANONVCC4_HH
00027 
00028 #include "Body.hh"
00029 #include "Model.hh"
00030 
00031 // Forward declarations
00032 class Camera;
00033 class FrustrumGeom;
00034 class HingeJoint;
00035 
00036 
00037 class CanonVCC4 : public Model
00038 {
00039   // Constructor, destructor
00040   public: CanonVCC4( World *world );
00041   public: virtual ~CanonVCC4();
00042   
00043   // Load the model
00044   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00045 
00046   // Initialize the model
00047   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00048 
00049   // Finalize the model
00050   public: virtual int Fini();
00051 
00052   // Update the model state
00053   public: virtual void Update( double step );
00054 
00055   // Load ODE stuff
00056   private: int OdeLoad( WorldFile *file, WorldFileNode *node );
00057 
00058   // Update the data in the external interface
00059   private: void PutPtzData();
00060   private: void PutCameraData();
00061   private: void GetPtzCmd();
00062 
00063   // ODE objects
00064   private: Body *body;
00065   private: Body *middle;
00066   private: Body *head;
00067   private: Geom *bodyGeoms[4];
00068   private: Geom *lensGeom;
00069   private: HingeJoint *panJoint;
00070   private: HingeJoint *tiltJoint;
00071 
00072   // Frustrum for GUI feedback
00073   private: FrustrumGeom *frustrum;
00074 
00075   // External interfaces
00076   private: gz_camera_t *cameraIface;
00077   private: gz_ptz_t *ptzIface;
00078 
00079   // Horizontal field of view
00080   private: double hfov;
00081   
00082   // Zoom factor
00083   private: double zoomMin, zoomMax;
00084 
00085   // Gain terms for controllers
00086   private: double motionGain, zoomGain;
00087 
00088   // Commanded PTZ values
00089   private: double cmdPan, cmdTilt, cmdZoom;
00090 
00091   // Current zoom factor
00092   private: double zoom;
00093   
00094   // The camera sensor (does rendering)
00095   private: Camera *camera;
00096 
00097   // Time between ptz updates
00098   private: double ptzUpdatePeriod;
00099   private: double ptzUpdateTime;
00100 
00101   // Time between camera updates
00102   private: double cameraUpdatePeriod;
00103   private: double cameraUpdateTime;
00104 };
00105 
00106 #endif
00107
Last updated 12 September 2005 21:38:45