Wheel.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 Wheel
00023  * Author: Jordi Polo
00024  * Date: 18 Dec 2007
00025  */
00026 #ifndef WHEEL_HH
00027 #define WHEEL_HH
00028 
00029 
00030 #include "Controller.hh"
00031 #include "Entity.hh"
00032 
00033 namespace gazebo
00034 {
00035 
00038 
00047 
00048 
00049 class Wheel
00050 {
00052   public: Wheel ();
00053 
00055 
00056   public: virtual ~Wheel();
00057 
00059   public: virtual void Connect(Joint *joint, int type);
00060 
00062   public: virtual void Update(float speed, float steer);
00063 
00065   public: virtual void SetTorque(float newTorque);
00066 
00068   public: virtual void Stop();
00069 
00071   public: virtual void SetSuspension(float spring, float damping, float step);
00072 
00074   public: int GetType() { return type;}
00075 
00076   
00077   protected: float torque;
00078   protected: float cmdSpeed;
00079   protected: float steerKp;
00080   protected: float steerKd;
00081   protected: int type;
00082   protected: enum {DRIVE, STEER, FULL};
00083 };
00084 
00086 
00087 
00088 }
00089 
00090 #endif
Last updated Aug 04 2007