bandit.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 of a simple humanoid torso
 * Author: Nate Koenig
 * Date: 31 Aug 2005
 * CVS: $Id: Bandit.hh,v 1.1 2005/08/31 23:06:00 natepak Exp $
 */

#ifndef BANDIT_HH
#define BANDIT_HH

#include "gazebo.h"
#include "Model.hh"

class Body;
class HingeJoint;

enum Joints {L_SHOULDER, L_UPPERARM, L_ELBOW, L_LOWERARM, L_WRIST, R_SHOULDER, R_UPPERARM, R_ELBOW, R_LOWERARM, R_WRIST, HEAD, JOINT_COUNT};

class Bandit : public Model
{
  // Constructor
  public: Bandit( World *world );
  
  // Destructor
  public: virtual ~Bandit();

  // Load stuff
  public: int Load( WorldFile *file, WorldFileNode *node );
  
  // Initialize stuff
  public: int Init( WorldFile *file, WorldFileNode *node );

  // Finalize stuff
  public: int Fini();
  
  // Get commands from the external interface
  private: void IfaceGetCmd();

  // Update the data in the external interface
  private: void IfacePutData();  

  // Do updates
  public: void Update( double step );

  // Set the velocity of a joint
  private: void SetJointVelocity( Joint *joint, int param, double angle, double cmd_angle);

  // The canonical body
  private: Body *torso;
  private: Body *head;

  private: Body *leftShoulder;
  private: Body *leftUpperArm;
  private: Body *leftElbow;
  private: Body *leftLowerArm;
  private: Body *leftHand;

  private: Body *rightShoulder;
  private: Body *rightUpperArm;
  private: Body *rightElbow;
  private: Body *rightLowerArm;
  private: Body *rightHand;

  private: Joint *joints[JOINT_COUNT];

  private: gz_joint_t *joint_iface;
};

#endif