/////////////////////////////////////////////////////////////////////////////// File: gripperdevice.hh// Author: brian gerkey// Date: 09 Jul 2001// Desc: Simulates a simple gripper//// CVS info://  $Source: /cvsroot/playerstage/code/stage/src/models/Attic/gripperdevice.hh,v $//  $Author: rtv $//  $Revision: 1.2 $/////////////////////////////////////////////////////////////////////////////#ifndef GRIPPERDEVICE_HH#define GRIPPERDEVICE_HH#include "playerdevice.hh"/*  * gripper constants *  * not a great place to put them.  in fact, is it a good idea to make * the interface to the simulated gripper match the P2 gripper? *  */#define GRIPopen   1#define GRIPclose  2#define GRIPstop   3#define LIFTup     4#define LIFTdown   5#define LIFTstop   6#define GRIPstore  7#define GRIPdeploy 8#define GRIPhalt   15#define GRIPpress  16#define LIFTcarry  17#define MAXGRIPPERCAPACITY 1000class CGripperDevice : public CPlayerEntity{  // Default constructor  //  public: CGripperDevice( LibraryItem *libit, CWorld *world, CEntity *parent );   // a static named constructor - a pointer to this function is given  // to the Library object and paired with a string.  When the string  // is seen in the worldfile, this function is called to create an  // instance of this entitypublic: static CGripperDevice* Creator(  LibraryItem *libit, CWorld *world, CEntity *parent )  { return( new CGripperDevice( libit, world, parent ) ); }  // Startup routine  public: virtual bool Startup();    // update the break beams with the raytrace functions  // beam is 0 - inside or 1 - outside  // returns pointer to the puck in the beam, or NULL if none  private: CEntity* BreakBeam( int beam );  // Update the device  //  public: virtual void Update( double sim_time );  // Package up the gripper's state in the right format  //  private: void MakeData(player_gripper_data_t* data, size_t len);  // Drop an object from the gripper (if there is one)  //  private: void DropObject();      // Try to pick up an object with the gripper  //  private: void PickupObject();  // Current gripper state  //  //  note that these will be folded in as bitmasks to  //  the gripper data. also note that not all of these are  //  used right now   //  //  we're adhering to the OLD P2 gripper (i.e., the one that  //  attaches to the User I/O port on the pioneer)  private: bool m_paddles_open, m_paddles_closed, m_paddles_moving,    m_gripper_error, m_lift_up, m_lift_down,    m_lift_moving, m_lift_error, m_inner_break_beam,    m_outer_break_beam;                     // this is the maximum number of pucks that we can carry  private: int m_puck_capacity;  // these are used both for locating break beams and for visualization  private: double m_paddle_width;  private: double m_paddle_height;  // extra colors used for drawing break beams  private: StageColor broken_beam_color;  private: StageColor clear_beam_color;  // whether or not we "consume" pucks.  if we do consume, then pucks  // are essentially eaten by the gripper and can never be dropped (like  // a vacuum  cleaner); if we do not consume, then we only hold one puck  // at a time and it can be dropped  private: bool m_gripper_consume;  // these are the pucks we're carrying right now  private: int m_puck_count;  private: CEntity* m_pucks[MAXGRIPPERCAPACITY];    // Load the entity from the worldfile  public: virtual bool Load(CWorldFile *worldfile, int section);  // Gripper dimenions  //private: double m_width, m_height;#ifdef INCLUDE_RTK2      // Initialise the rtk gui  protected: virtual void RtkStartup();  // Finalise the rtk gui  protected: virtual void RtkShutdown();  // Update the rtk gui  protected: virtual void RtkUpdate();  private: rtk_fig_t *grip_fig;  private: rtk_fig_t *inner_beam_fig;  private: rtk_fig_t *outer_beam_fig;#endif};#endif