TruthWidget.hh
Go to the documentation of this file.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 getting truth values 00022 * Author: Chris Jones 00023 * Date: Nov 2003 00024 * CVS: $Id: TruthWidget.hh,v 1.8 2004/08/12 00:16:04 inspectorg Exp $ 00025 */ 00026 00027 #ifndef TRUTHWIDGET_HH 00028 #define TRUTHWIDGET_HH 00029 00030 #include "Model.hh" 00031 00032 typedef struct gz_truth gz_truth_t; 00033 00034 00035 class TruthWidget : public Model 00036 { 00037 // Constructor, destructor 00038 public: TruthWidget( World *world ); 00039 public: virtual ~TruthWidget(); 00040 00041 // Load the model 00042 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00043 00044 // Initialize the model 00045 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00046 00047 // Finalize the model 00048 public: virtual int Fini(); 00049 00050 // Update the model state 00051 public: virtual void Update( double step ); 00052 00053 // Initialize the external interface 00054 private: int IfaceInit(); 00055 00056 // Finalize the external interface 00057 private: int IfaceFini(); 00058 00059 // Get commands from the interface 00060 private: bool IfaceGetCmd(GzVector *pos, GzQuatern *rot); 00061 00062 // Update the data in the external interface 00063 private: void IfacePutData(); 00064 00065 // External interfaces 00066 private: gz_truth_t *truth_iface; 00067 00068 // Body that we must have 00069 private: Body *body; 00070 }; 00071 00072 00073 #endif