DriveWheel.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: Wheel that can not be steered
00023  * Author: Jordi Polo
00024  * Date: 18 Dec 2007
00025  */
00026 #ifndef DRIVEWHEEL_HH
00027 #define DRIVEWHEEL_HH
00028 
00029 
00030 #include "Wheel.hh"
00031 
00032 namespace gazebo
00033 {
00034   class HingeJoint;
00035 
00038 
00047 
00048 
00049 class DriveWheel: public Wheel
00050 {
00052   public: DriveWheel ( );
00053 
00055   public: virtual ~DriveWheel();
00056 
00058   public: void Connect(Joint *joint, int type);
00059 
00061   public: void Update(float speed, float steer=0);
00062 
00064   public: void SetSteerTorque(float newTorque);
00065 
00067   public: void SetTorque(float newTorque);
00068 
00070   public: void Stop();
00071 
00073   public: void SetSuspension(float spring, float damping, float step);
00074 
00075   private: HingeJoint *joint;
00076   private: float torque;
00077   private: float steerTorque; 
00078   private: float speedCmd;
00079   private: float steerCmd;
00080 
00081 
00082 };
00083 
00085 
00086 
00087 }
00088 
00089 #endif
Last updated Aug 04 2007