Revision: 8803
http://playerstage.svn.sourceforge.net/playerstage/?rev=8803&view=rev
Author: natepak
Date: 2010-06-28 16:19:35 +0000 (Mon, 28 Jun 2010)
Log Message:
-----------
Added an elevator plugin
Modified Paths:
--------------
code/gazebo/trunk/plugins/CMakeLists.txt
Added Paths:
-----------
code/gazebo/trunk/plugins/elevator.cc
Modified: code/gazebo/trunk/plugins/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/plugins/CMakeLists.txt 2010-06-28 04:50:31 UTC (rev
8802)
+++ code/gazebo/trunk/plugins/CMakeLists.txt 2010-06-28 16:19:35 UTC (rev
8803)
@@ -21,6 +21,7 @@
ball_drop
box_push
box_stack
+ elevator
)
Added: code/gazebo/trunk/plugins/elevator.cc
===================================================================
--- code/gazebo/trunk/plugins/elevator.cc (rev 0)
+++ code/gazebo/trunk/plugins/elevator.cc 2010-06-28 16:19:35 UTC (rev
8803)
@@ -0,0 +1,73 @@
+#include <gazebo/gazeboserver.hh>
+#include <boost/bind.hpp>
+
+namespace gazebo
+{
+ class Elevator : public Plugin
+ {
+ /// Constructor
+ public: Elevator() : Plugin()
+ {
+ this->open = 0;
+ this->raise = 0;
+ }
+
+ /// Mandatory load function, neded by gazebo
+ public: void Load()
+ {
+ // Get the right and left doors, and the lift
+ this->rightDoor =
(Body*)World::Instance()->GetEntityByName("doors::right");
+ this->leftDoor =
(Body*)World::Instance()->GetEntityByName("doors::left");
+ this->lift = (Body*)World::Instance()->GetEntityByName("lift::body");
+
+ // Get the first contact sensor
+ this->contact =
(Geom*)World::Instance()->GetEntityByName("contact::body::COM_Entity::geom");
+ this->contact->SetContactsEnabled(true);
+ this->contact->ConnectContactCallback(boost::bind(&Elevator::ContactCB,
this));
+
+
+ // Get the second contact sensor
+ this->contact2 =
(Geom*)World::Instance()->GetEntityByName("lift::body::COM_Entity::contact");
+ this->contact2->SetContactsEnabled(true);
+
this->contact2->ConnectContactCallback(boost::bind(&Elevator::Contact2CB,
this));
+
+ // Get an update callback
+ World::Instance()->ConnectWorldUpdateStartSignal(
+ boost::bind(&Elevator::UpdateCB, this));
+ }
+
+ /// Gazebo callback that contact occured on the plate in front of the door
+ private: void ContactCB()
+ {
+ this->open = 1;
+ }
+
+ /// Gazebo callback that contact occured on the plate in the elevator
+ private: void Contact2CB()
+ {
+ this->raise = 1;
+ }
+
+ /// Gazebo update callback
+ public: void UpdateCB()
+ {
+ if (this->open == 1)
+ {
+ this->rightDoor->SetLinearVel(Vector3(0, -0.5, 0));
+ this->leftDoor->SetLinearVel(Vector3(0, 0.5, 0));
+ }
+
+ if (this->raise == 1)
+ {
+ this->lift->SetLinearVel(Vector3(0,0,0.5));
+ }
+ }
+
+ private: int open, raise;
+ private: Body *rightDoor, *leftDoor, *lift;
+ private: Geom *contact, *contact2;
+ };
+
+ /// Register this plugin with gazebo. This is mandatory
+ GZ_REGISTER_PLUGIN("Elevator", Elevator)
+}
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