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Model.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: Base class for all models
 * Author: Nathan Koenig and Andrew Howard
 * Date: 8 May 2003
 * SVN: $Id: Model.hh 4402 2008-03-09 14:39:27Z robotos $
 */

#ifndef MODEL_HH
#define MODEL_HH

//#include <python2.4/Python.h>
#include <map>
#include <string>
#include <vector>

#include "MovableText.hh"
#include "UpdateParams.hh"
#include "Pose3d.hh"
#include "Joint.hh"
#include "Entity.hh"
#include "gazebo.h"


namespace gazebo
{

  // Forward declarations
  class XMLConfigNode;
  class Body;
  class Controller;
  class HingeJoint;

  
  class Model : public Entity
  {
    public: Model(Model *parent);
  
    public: virtual ~Model();
  
    public: int Load(XMLConfigNode *node);
  
    public: void Save();
    public: void Test();

    public: int Init();
  
    public: int Update(UpdateParams &params);
  
    public: int Fini();

    public: void Reset();
  
    protected: virtual int LoadChild(XMLConfigNode * /*node*/) {return 0;}
  
    protected: virtual int InitChild() {return 0;}
  
    protected: virtual int UpdateChild() {return 0;}
  
    protected: virtual int FiniChild() {return 0;}
    
    public: const std::string &GetType() const;

    public: void SetInitPose(const Pose3d &pose);
  
    public: const Pose3d &GetInitPose() const;
  
    public: void SetPose(const Pose3d &pose);
  
    public: const Pose3d &GetPose() const;
  
    public: Body *CreateBody();
  
    public: Joint *CreateJoint(Joint::Type type);
  
    public: Joint *GetJoint(std::string name);
  
    public: Body *GetBody();

    public: Body *GetBody(const std::string &name);
  
    public: void Attach(XMLConfigNode *node);
  
    public: Body *GetCanonicalBody();

    private: void LoadBody(XMLConfigNode *node);
  
    private: void LoadJoint(XMLConfigNode *node);
  
    private: void LoadController(XMLConfigNode *node);
  
    private: void LoadPhysical(XMLConfigNode *node);
  
    private: void LoadRenderable(XMLConfigNode *node);
  
    private: std::string type;
  
    private: XMLConfigNode *xmlNode;
  
    private: Pose3d initPose;
  
    private: Pose3d pose;
  
    protected: std::map<std::string, Body* > bodies;
  
    protected: std::map<std::string, Joint* > joints;
  
    protected: std::map<std::string, Controller* > controllers;
  
    private: std::string canonicalBodyName;
  
    private: HingeJoint *joint;
  
    private: static uint lightNumber;

    //private: MovableText *mtext;

  /*  private: PyObject *pName;
      private: PyObject *pModule;
      private: PyObject *pFuncUpdate;
    */
  };
}

#endif

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Last updated Aug 04 2007