Steering_Position2d.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: General steering controller for any number of wheels and configuration
00023  * Author: Jordi Polo
00024  * Date: 23 Dec 2007
00025  */
00026 #ifndef STEERING_POSITION2D_HH
00027 #define STEERING_POSITION2D_HH
00028 
00029 
00030 #include "Controller.hh"
00031 #include "Entity.hh"
00032 
00033 namespace gazebo
00034 {
00035   class PositionIface;
00036   class Wheel;
00037 
00040 
00085 
00086 class Steering_Position2d : public Controller
00087 {
00089   public: Steering_Position2d(Entity *parent );
00090 
00092   public: virtual ~Steering_Position2d();
00093 
00096   protected: virtual void LoadChild(XMLConfigNode *node);
00097 
00099   protected: virtual void InitChild();
00100 
00102   protected: virtual void ResetChild();
00103 
00105   protected: virtual void UpdateChild(UpdateParams &params);
00106 
00108   protected: virtual void FiniChild();
00109 
00111   private: void PutPositionData();
00112 
00114   private: void GetPositionCmd();
00115 
00117   protected: std::vector<Wheel*> wheels;
00118 
00120   private: PositionIface *myIface;
00121 
00123   private: Model *myParent;
00124 
00125 
00127   private: float cmdSteer;
00128   private: float cmdSpeed;
00129 
00131   private: bool enableMotors;
00132 
00133   private: float odomPose[3];
00134   private: float odomVel[3];
00135 
00136 };
00137 
00139 
00140 
00141 }
00142 
00143 #endif
00144
Last updated Aug 04 2007