SickLMS200.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 Pioneer2AT
00022  * Author: Andrew Howard
00023  * Date: 8 May 2003
00024  * CVS: $Id: SickLMS200.hh,v 1.22 2005/05/04 02:31:31 natepak Exp $
00025  */
00026 
00027 #ifndef SICKLMS200_HH
00028 #define SICKLMS200_HH
00029 
00030 #include "Body.hh"
00031 #include "Model.hh"
00032 
00033 // Forward declarations
00034 class RayProximity;
00035 
00037 class SickLMS200 : public Model
00038 {
00040   public: SickLMS200( World *world );
00041 
00043   public: virtual ~SickLMS200();
00044   
00046   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00047 
00049   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00050 
00052   public: virtual int Fini();
00053 
00055   public: virtual void Update( double step );
00056 
00058   private: int OdeLoad( WorldFile *file, WorldFileNode *node );
00059 
00061   private: int RayLoad( WorldFile *file, WorldFileNode *node );
00062 
00064   private: void PutLaserData();
00065 
00067   private: void PutFiducialData();
00068 
00069   // Finalize rays
00070   private: int RayFini();
00071   
00072   // Initialize the external interface
00073   private: int IfaceInit();
00074 
00075   // Finalize the external interface
00076   private: int IfaceFini();
00077 
00078   // Update the data in the external interface
00079   private: void IfacePutData();
00080 
00081   // Get command from the interface
00082   private: bool IFaceGetCmd();
00083  
00084   // ODE objects
00085   private: Body *body;
00086   
00087   // Ray sensor
00088   private: RayProximity *sensor;
00089   
00090   // External interfaces
00091   private: gz_laser_t *laser_iface;
00092   private: gz_fiducial_t *fiducial_iface;
00093 
00094   // Laser settings
00095   private: int rayCount;
00096   private: int rangeCount;
00097   private: double laserMinRange, laserMaxRange;
00098   private: double laserMinAngle, laserMaxAngle;
00099   private: double laserPeriod;
00100   private: double laserTime;
00101 };
00102 
00103 
00104 #endif
Last updated 12 September 2005 21:38:45