carchassis.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: Model for a generic car chassis
 * Author: Andrew Howard
 * Date: 23 Oct 2004
 * CVS: $Id: CarChassis.hh,v 1.1 2004/10/24 17:54:18 inspectorg Exp $
 */

#ifndef CARCHASSIS_HH
#define CARCHASSIS_HH

#include "Model.hh"

// Forward declarations
class Body;
class HingeJoint;
class Hinge2Joint;
class Geom;
typedef struct gz_position gz_position_t;


/// @brief A generic car chassis
class CarChassis : public Model
{
  /// @brief Construct
  public: CarChassis( World *world );

  /// @brief Destructor
  public: virtual ~CarChassis();

  /// @brief Load the model
  public: virtual int Load( WorldFile *file, WorldFileNode *node );

  /// @brief Load ODE stuff
  private: int OdeLoad( WorldFile *file, WorldFileNode *node );

  /// @brief Initialize the model
  public: virtual int Init( WorldFile *file, WorldFileNode *node );

  /// @brief Finalize the model
  public: virtual int Fini();

  /// @brief Update the model state
  public: virtual void Update( double step );

  // Get commands from the position interface
  private: void PositionGetCmd();

  // Update the position interface
  private: void PositionPutData();
  
  // ODE components
  private: Body *chassis;
  private: Body *frontLeftWheel, *frontRightWheel;
  private: Body *rearLeftWheel, *rearRightWheel;
  private: HingeJoint *rearLeftJoint, *rearRightJoint;
  private: Hinge2Joint *frontLeftJoint, *frontRightJoint;

  // Time of last update
  private: double updateTime;
  
  // External interface
  private: gz_position_t *position;

  // Command settings
  private: double cmdSpeed, cmdSteer;

  // Steering limits
  private: double steerMaxAngle;

  // Steering controller
  private: double steerKp, steerKd;
};

#endif