File: sushi-cup-object.l

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euslisp 9.27%2Bdfsg-7
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file content (640 lines) | stat: -rw-r--r-- 115,278 bytes
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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version 
;;
;;
(defclass sushi-cup-object
  :super cascaded-link
  :slots (sensors
         handle0
         attention0
         ))
(defmethod sushi-cup-object
  (:init
   (&rest args &key (name "sushi-cup") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
   (let (c bc
         blink0
                 )
     (send-super* :init :name name args)

     ;; definition of link

     ;; definition of :sushi-cup-bodyset2
     (setq bc (list
       (instance faceset :init :faces (list
         (instance face :init :vertices (list (float-vector 20.0 0.0 5.0) (float-vector 18.4776 -7.65367 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector 18.4776 -7.65367 5.0) (float-vector 14.1421 -14.1421 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector 14.1421 -14.1421 5.0) (float-vector 7.65367 -18.4776 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector 7.65367 -18.4776 5.0) (float-vector -1.813096e-13 -20.0 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector -1.813096e-13 -20.0 5.0) (float-vector -7.65367 -18.4776 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector -7.65367 -18.4776 5.0) (float-vector -14.1421 -14.1421 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector -14.1421 -14.1421 5.0) (float-vector -18.4776 -7.65367 5.0) (float-vector 0.0 0.0 5.0)))
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         (instance face :init :vertices (list (float-vector -18.4776 7.65367 5.0) (float-vector -14.1421 14.1421 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector -14.1421 14.1421 5.0) (float-vector -7.65367 18.4776 5.0) (float-vector 0.0 0.0 5.0)))
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         (instance face :init :vertices (list (float-vector 14.1421 14.1421 5.0) (float-vector 18.4776 7.65367 5.0) (float-vector 0.0 0.0 5.0)))
         (instance face :init :vertices (list (float-vector 18.4776 7.65367 5.0) (float-vector 20.0 0.0 5.0) (float-vector 0.0 0.0 5.0)))
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         (instance face :init :vertices (list (float-vector -7.65367 -18.4776 0.0) (float-vector -7.65367 -18.4776 5.0) (float-vector -1.813096e-13 -20.0 5.0) (float-vector -1.813096e-13 -20.0 0.0)))
         (instance face :init :vertices (list (float-vector -14.1421 -14.1421 0.0) (float-vector -14.1421 -14.1421 5.0) (float-vector -7.65367 -18.4776 5.0) (float-vector -7.65367 -18.4776 0.0)))
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         (instance face :init :vertices (list (float-vector 1.424116e-14 15.0 10.0) (float-vector -5.74025 13.8582 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -5.74025 13.8582 10.0) (float-vector -10.6066 10.6066 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -10.6066 10.6066 10.0) (float-vector -13.8582 5.74025 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -13.8582 5.74025 10.0) (float-vector -15.0 8.177303e-14 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -15.0 8.177303e-14 10.0) (float-vector -13.8582 -5.74025 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -13.8582 -5.74025 10.0) (float-vector -10.6066 -10.6066 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -10.6066 -10.6066 10.0) (float-vector -5.74025 -13.8582 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -5.74025 -13.8582 10.0) (float-vector -1.359822e-13 -15.0 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector -1.359822e-13 -15.0 10.0) (float-vector 5.74025 -13.8582 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector 5.74025 -13.8582 10.0) (float-vector 10.6066 -10.6066 10.0) (float-vector 0.0 0.0 10.0)))
         (instance face :init :vertices (list (float-vector 10.6066 -10.6066 10.0) (float-vector 13.8582 -5.74025 10.0) (float-vector 0.0 0.0 10.0)))
       ))
       ))
     (dolist (b (cdr bc)) (send (car bc) :assoc b))
     (send (elt bc 0) :set-color :cornsilk)
     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :sushi-cup-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))

     ;; definition of assoc
     (send self :assoc blink0)

     ;; definition of end-coords

     ;; definition of joint


     ;; definition of :handle
     (setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 46.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle0"))
     (send blink0 :assoc handle0)

     ;; definition of :attention
     (setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 152.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "attention0"))
     (send blink0 :assoc attention0)

     ;; init-ending 
     (setq links (list blink0))
     (setq joint-list (list))
     (send self :init-ending)
     (send self :move-to (make-coords :pos pos :rot rot))
     (send-all links :worldcoords)

     self))

  (:handle (&rest args) (forward-message-to-all (list  handle0) args))
  (:handle-handle0 (&rest args) (forward-message-to handle0 args))
  (:attention (&rest args) (forward-message-to-all (list  attention0) args))
  (:attention-attention0 (&rest args) (forward-message-to attention0 args))
  (:button (&rest args) (forward-message-to-all (list ) args))
  )

(defun sushi-cup (&rest args) (instance* sushi-cup-object :init args))
;; (format *error-output* "(instance sushi-cup-object :init) for generating model~%")