FullWheel.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: Full (steering and drive) or Steer (steering only) wheel
00023  * Author: Jordi Polo
00024  * Date: 18 Dec 2007
00025  */
00026 #ifndef FULLWHEEL_HH
00027 #define FULLWHEEL_HH
00028 
00029 #include "Wheel.hh"
00030 
00031 namespace gazebo
00032 {
00033   class Hinge2Joint;
00034 
00035 // \addtogroup gazebo_controller
00036 // \{
00046 
00047 
00048 class FullWheel: public Wheel
00049 {
00051   public: FullWheel ();
00052 
00054   public: virtual ~FullWheel();
00055 
00057   public:  void Connect(Joint *joint, int type);
00058 
00060   public:  void Update(float speed, float steer);
00061 
00063   public:  void SetSteerTorque(float newTorque);
00064 
00066   public:  void SetTorque(float newTorque);
00067   
00069   public: void SetSteerPD(float kp, float kd);
00070 
00072   public: void SetSteerMaxAngle(float maxAngle);
00073 
00075   public:  void Stop();
00076 
00078   public: void SetSuspension(float spring, float damping, float step);
00079 
00080   
00081   private: Hinge2Joint *joint;
00082   private: float steerTorque; 
00083   private: float cmdSteer;
00084   private: float steerMaxAngle;
00085  // private: int type;
00086   
00087 };
00088 
00090 // \}
00091 
00092 }
00093 
00094 #endif
Last updated Aug 04 2007