Update of /cvsroot/playerstage/code/gazebo/server/models/Pioneer2DX
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13268/Pioneer2DX
Added Files:
Tag: ogre
Pioneer2DX.cc Pioneer2DX.hh SConscript
Log Message:
updates
--- NEW FILE: Pioneer2DX.cc ---
#include <stdio.h>
#include "Body.hh"
#include "PlaneGeom.hh"
#include "SphereGeom.hh"
#include "BoxGeom.hh"
#include "HingeJoint.hh"
#include "CylinderGeom.hh"
#include "ModelFactory.hh"
#include "XMLConfig.hh"
#include "Global.hh"
#include "gazebo.h"
#include "World.hh"
#include "Pioneer2DX.hh"
GZ_REGISTER_STATIC("pioneer2dx", Pioneer2DX);
Pioneer2DX::Pioneer2DX()
{
}
Pioneer2DX::~Pioneer2DX()
{
}
// Load the child model
int Pioneer2DX::LoadChild(XMLConfigNode * /*node*/)
{
}
// Initialize the child model
int Pioneer2DX::InitChild()
{
// Set initial interface state
this->position_iface->data->cmd_enable_motors = 1;
// Reset odometric pose
this->odomPose[0] = 0.0;
this->odomPose[1] = 0.0;
this->odomPose[2] = 0.0;
return 0;
}
// Update the child model
int Pioneer2DX::UpdateChild()
{
return 0;
}
// Finilaize thie child model
int Pioneer2DX::FiniChild()
{
return 0;
}
void Pioneer2DX::UpdateOdometry( double step )
{
double d1, d2;
double dr, da;
// Distance travelled by front wheels
d1 = step * this->wheelDiam / 2.0 * wheelJoints[0]->GetAngleRate();
d2 = step * this->wheelDiam / 2.0 * wheelJoints[1]->GetAngleRate();
dr = (d1 + d2) / 2.0;
da = (d2 - d1) / this->wheelSep;
// Compute odometric pose
this->odomPose[0] += dr * cos( this->odomPose[2] );
this->odomPose[1] += dr * sin( this->odomPose[2] );
this->odomPose[2] += da;
// Compute odometric instantaneous velocity
this->odomVel[0] = dr / step;
this->odomVel[1] = 0.0;
this->odomVel[2] = da / step;
return;
}
--- NEW FILE: SConscript ---
#Import variable
Import('env', 'prefix', 'version', 'modelObjs')
modelObjs.append(env.Object('Pioneer2DX.cc'))
--- NEW FILE: Pioneer2DX.hh ---
#ifndef PIONEER2DX_HH
#define PIONEER2DX_HH
#include "Model.hh"
class Body;
class Geom;
class HingeJoint;
class XMLConfigNode;
typedef struct gz_position gz_position_t;
typedef struct gz_power gz_power_t;
typedef struct gz_sonar gz_sonar_t;
class Pioneer2DX : public Model
{
public: Pioneer2DX();
public: virtual ~Pioneer2DX();
// Load the child model
protected: virtual int LoadChild(XMLConfigNode *node);
// Load the Bodies for the Pioneer
private: int LoadBodies(XMLConfigNode *node);
// Load the sonars
private: int LoadSonar(XMLConfigNode *node);
// Initialize the child model
protected: virtual int InitChild();
// Update the child model
protected: virtual int UpdateChild();
// Update parameters
private: double updatePeriod, updateTime;
// Finilaize thie child model
protected: virtual int FiniChild();
// Body and geometry for the chassis
private: Body *chassisBody;
private: Geom *chassisGeom;
// Body, geom, and joints for the wheels
private: Body *wheelBodies[2];
private: Geom *wheelGeoms[2];
private: HingeJoint *wheelJoints[2];
// Radius of the drive wheels
private: double wheelRadius;
// Wheel separation distance
private: double wheelSep;
// Wheel speeds (left and right wheels are paired)
private: int enableMotors;
private: double wheelSpeed[2];
// Odometric pose estimate
private: double odomPose[3];
// Odometric velocity estimate
private: double odomVel[3];
// Battery level
private: double batteryLevel;
// Coefficients of battery discharge curve
private: double batteryCurve[2];
// External interface
private: gz_position_t *position_iface;
private: gz_power_t *power_iface;
private: gz_sonar_t *sonar_iface;
};
#endif
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