blimp.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 PennBlimp
 * Author: Pranav Srivastava
 * Date: 14 Sep 2003
 * CVS: $Id: Blimp.hh,v 1.9 2004/09/08 21:32:52 section314 Exp $
 */

#ifndef BLIMP_HH
#define BLIMP_HH

#include "Model.hh"

// Forward declarations
class Body;
class SliderJoint;
class Geom;

//typedef struct _gz_position_t gz_position_t;


class Blimp : public Model
{
  // Construct, destructor
  public: Blimp( World *world );
  public: virtual ~Blimp();

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

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

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

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

  // Update the odometry
  private: void UpdateOdometry( double step );

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

  // Initialize ODE
  private: int OdeInit( WorldFile *file, WorldFileNode *node );

  // Finalize ODE
  private: int OdeFini();

  // Initialize the external interface
  private: int IfaceInit();

  // Finalize the external interface
  private: int IfaceFini();

  // Get commands from the external interface
  private: void IfaceGetCmd();
  
  // Update the data in the external interface
  private: void IfacePutData();
  // Get commands from the external interface
     //  private: void Iface3dGetCmd();
  
  // Update the data in the external interface
  //private: void Iface3dPutData();
  // Robot parameters
  private: double total_mass;
  
  // ODE components
  // don't think i need so many.. just one body the capped cylinder..and maybe a fixed joint to hold up the blimp gondola underneath.
  private: Body *body,*counter,*counter2;
  private: SliderJoint *counterJoint,*counterJoint2;
  private: Geom *bodyGeoms[8];

  // External interface
  private: gz_position_t *iface;
     //private: gz_position3d_t *iface3d;
  private: bool is3d;
  private: bool first_run; // just so that i can get everything that is a child and retain its pointer.

  // moving the blimp in 3d.
  private: double xspeed,yspeed,zspeed,rollspeed,yawspeed,pitchspeed;

  // true position .. is there an odometric thing for position in the sky??
private: double xpos,ypos,zpos,roll,pitch,yaw;

};

#endif