Bandit_Actarray.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 /*
00022  * Desc: Actuator array controller for a Bandit robot.
00023  * Author: Nathan Koenig
00024  * Date: 19 Sept 2007
00025  * SVN: $Id$
00026  */
00027 #ifndef BANDIT_ACTARRAY_HH
00028 #define BANDIT_ACTARRAY_HH
00029 
00030 #include "Controller.hh"
00031 #include "Entity.hh"
00032 
00033 namespace gazebo
00034 {
00035   class HingeJoint;
00036   class PositionIface;
00037 
00040 
00055 
00056 
00057 class Bandit_Actarray : public Controller
00058 {
00060   public: Bandit_Actarray(Entity *parent );
00061 
00063   public: virtual ~Bandit_Actarray();
00064 
00068   protected: virtual void LoadChild(XMLConfigNode *node);
00069 
00072   protected: virtual void InitChild();
00073 
00076   protected: virtual void UpdateChild(UpdateParams &params);
00077 
00080   protected: virtual void FiniChild();
00081 
00083   private: ActarrayIface *myIface;
00084 
00086   private: Model *myParent;
00087 
00088   private: HingeJoint *joints[16];
00089   private: float forces[16];
00090   private: float gains[16];
00091 
00092 };
00093 
00095 
00096 
00097 }
00098 
00099 #endif
00100
Last updated Aug 04 2007