Revision: 7426
http://playerstage.svn.sourceforge.net/playerstage/?rev=7426&view=rev
Author: gerkey
Date: 2009-03-10 05:43:37 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
Reorg for installation
Modified Paths:
--------------
code/websim/CMakeLists.txt
code/websim/src/websim.cc
Added Paths:
-----------
code/websim/src/websim.h
Removed Paths:
-------------
code/websim/include/
Modified: code/websim/CMakeLists.txt
===================================================================
--- code/websim/CMakeLists.txt 2009-03-10 05:38:39 UTC (rev 7425)
+++ code/websim/CMakeLists.txt 2009-03-10 05:43:37 UTC (rev 7426)
@@ -11,3 +11,8 @@
set_target_properties(websim-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
target_link_libraries(websim event)
+
+install(TARGETS websim websim-static
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
+install(FILES src/websim.h DESTINATION include/websim)
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-03-10 05:38:39 UTC (rev 7425)
+++ code/websim/src/websim.cc 2009-03-10 05:43:37 UTC (rev 7426)
@@ -25,7 +25,7 @@
* SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
*/
-#include "websim/websim.h"
+#include "websim.h"
#include <boost/lexical_cast.hpp>
Copied: code/websim/src/websim.h (from rev 7425,
code/websim/include/websim/websim.h)
===================================================================
--- code/websim/src/websim.h (rev 0)
+++ code/websim/src/websim.h 2009-03-10 05:43:37 UTC (rev 7426)
@@ -0,0 +1,159 @@
+/*
+ * WebSim - Library for web-enabling and federating simulators.
+ * Copyright (C) 2009
+ * Richard Vaughan, Brian Gerkey, and Nate Koenig
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
+#include <string>
+#include <vector>
+#include <map>
+
+// These headers must be included prior to the libevent headers
+#include <sys/types.h>
+#include <sys/queue.h>
+
+// libevent
+#include <event.h>
+#include <evhttp.h>
+
+namespace websim
+{
+
+class Pose;
+class Velocity;
+class Acceleration;
+
+class WebSim
+{
+ public:
+ WebSim(const std::string& _fedfile,
+ const std::string& _host,
+ int _port);
+ virtual ~WebSim();
+
+ void Update();
+
+ // Interface to be implemented by simulators
+ virtual bool CreateModel(const std::string& name,
+ const std::string& type,
+ std::string& error) = 0;
+ virtual bool DeleteModel(const std::string& name,
+ std::string& error) = 0;
+ virtual bool SetModelPVA(const std::string& name,
+ const Pose& p,
+ const Velocity& v,
+ const Acceleration& a,
+ std::string& error) = 0;
+ virtual bool GetModelPVA(const std::string& name,
+ Pose& p,
+ Velocity& v,
+ Acceleration& a,
+ std::string& error) = 0;
+
+ protected:
+ void StringSplit(const std::string &s,
+ std::vector<std::string> &t,
+ const std::string &d);
+
+ private:
+ std::string fedfile;
+ std::string host;
+ int port;
+
+ struct evhttp* eh;
+
+ // Static, so that it can be passed as a callback to libevent
+ static void EventCallback(evhttp_request* req, void* arg);
+
+ bool GetValue(std::string& value,
+ struct evkeyvalq* query_args,
+ const std::string& key);
+ bool HandleURI(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleSimRequest(const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleModelRequest(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool ParseURI(std::string& model,
+ std::string& prop,
+ std::string& action,
+ std::string uri,
+ std::string& response);
+ void DeleteKeyVal(struct evkeyvalq* query_args);
+};
+
+class Pose
+{
+public:
+ double x,y,z,r,p,a;
+
+ Pose() :
+ x(0), y(0), z(0), r(0), p(0), a(0)
+ {
+ // nothing to do
+ }
+
+ Pose( double x, double y, double z,
+ double r, double p, double a ) :
+ x(x), y(y), z(z), r(r), p(p), a(a)
+ {
+ // nothing to do
+ }
+
+};
+
+class Velocity : public Pose
+{
+public:
+ Velocity() : Pose()
+ {}
+
+ Velocity( double x, double y, double z,
+ double r, double p, double a ) :
+ Pose( x, y, z, r, p, a )
+ {}
+};
+
+class Acceleration : public Pose
+{
+public:
+ Acceleration() : Pose()
+ {}
+
+ Acceleration( double x, double y, double z,
+ double r, double p, double a ) :
+ Pose( x, y, z, r, p, a )
+ {}
+};
+
+
+}
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
