sidefork.hh

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  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: Sidefork for Shrimp model
 * Author: Stijn Opheide, Jef Marien, Koen Jans
 * Date: December 2003
 * CVS: $Id: SideFork.hh,v 1.3 2004/11/16 04:47:08 inspectorg Exp $
 */

#ifndef SIDEFORK_HH
#define SIDEFORK_HH

class Body;

class ShrimpSideFork
{

	public: ShrimpSideFork(Model *model);
	public: virtual ~ShrimpSideFork();
	public: virtual Body *GetTopBar();
	public: virtual Body *GetBottomBar();
	public: virtual Body *GetFrontBar();
	public: virtual Body *GetBackBar();
	public: virtual void Translate(double x, double y, double z);


	private: double wheelDiam;
	private: Body *topBar;
	private: Body *bottomBar;
	private: Body *frontBar;
	private: Body *backBar;
	private: Model *model; //the model where this fork belongs to
	private: HingeJoint *topFrontJoint, *topBackJoint, *bottomBackJoint, *bottomFrontJoint;

};

#endif