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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass akiba-door-window-object
:super cascaded-link
:slots (sensors
joint0 ))
(defmethod akiba-door-window-object
(:init
(&rest args &key (name "akiba-door-window") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1
)
(send-super* :init :name name args)
;; definition of link
;; definition of :akiba-door-window-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -10.0 -290.0 2400.0) (float-vector -20.0 -290.0 2400.0) (float-vector -20.0 -300.0 2400.0) (float-vector -10.0 -300.0 2400.0)))
(instance face :init :vertices (list (float-vector -20.0 -290.0 0.0) (float-vector -10.0 -290.0 0.0) (float-vector -10.0 -300.0 0.0) (float-vector -20.0 -300.0 0.0)))
(instance face :init :vertices (list (float-vector -10.0 -290.0 2400.0) (float-vector -10.0 -290.0 0.0) (float-vector -20.0 -290.0 0.0) (float-vector -20.0 -290.0 2400.0)))
(instance face :init :vertices (list (float-vector -10.0 -300.0 2400.0) (float-vector -10.0 -300.0 0.0) (float-vector -10.0 -290.0 0.0) (float-vector -10.0 -290.0 2400.0)))
(instance face :init :vertices (list (float-vector -20.0 -300.0 2400.0) (float-vector -20.0 -300.0 0.0) (float-vector -10.0 -300.0 0.0) (float-vector -10.0 -300.0 2400.0)))
(instance face :init :vertices (list (float-vector -20.0 -290.0 2400.0) (float-vector -20.0 -290.0 0.0) (float-vector -20.0 -300.0 0.0) (float-vector -20.0 -300.0 2400.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :ivory1)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :akiba-door-window-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 :akiba-door-window-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -15.0 605.0 0.0) (float-vector -15.0 -15.0 0.0) (float-vector -15.0 -15.0 2400.0) (float-vector -15.0 605.0 2400.0))
:holes (list
(instance hole :init :vertices (list (float-vector -15.0 515.0 110.0) (float-vector -15.0 515.0 2290.0) (float-vector -15.0 95.0 2290.0) (float-vector -15.0 95.0 110.0)))
))
(instance face :init :vertices (list (float-vector 15.0 -15.0 0.0) (float-vector 15.0 -15.0 2400.0) (float-vector -15.0 -15.0 2400.0) (float-vector -15.0 -15.0 0.0)))
(instance face :init :vertices (list (float-vector 15.0 605.0 0.0) (float-vector 15.0 605.0 2400.0) (float-vector 15.0 -15.0 2400.0) (float-vector 15.0 -15.0 0.0))
:holes (list
(instance hole :init :vertices (list (float-vector 15.0 95.0 110.0) (float-vector 15.0 95.0 2290.0) (float-vector 15.0 515.0 2290.0) (float-vector 15.0 515.0 110.0)))
))
(instance face :init :vertices (list (float-vector -15.0 605.0 2400.0) (float-vector -15.0 -15.0 2400.0) (float-vector 15.0 -15.0 2400.0) (float-vector 15.0 605.0 2400.0)))
(instance face :init :vertices (list (float-vector 15.0 605.0 0.0) (float-vector 15.0 -15.0 0.0) (float-vector -15.0 -15.0 0.0) (float-vector -15.0 605.0 0.0)))
(instance face :init :vertices (list (float-vector -15.0 605.0 0.0) (float-vector -15.0 605.0 2400.0) (float-vector 15.0 605.0 2400.0) (float-vector 15.0 605.0 0.0)))
(instance face :init :vertices (list (float-vector -15.0 95.0 110.0) (float-vector -15.0 95.0 2290.0) (float-vector 15.0 95.0 2290.0) (float-vector 15.0 95.0 110.0)))
(instance face :init :vertices (list (float-vector 15.0 515.0 2290.0) (float-vector 15.0 95.0 2290.0) (float-vector -15.0 95.0 2290.0) (float-vector -15.0 515.0 2290.0)))
(instance face :init :vertices (list (float-vector 15.0 515.0 110.0) (float-vector 15.0 515.0 2290.0) (float-vector -15.0 515.0 2290.0) (float-vector -15.0 515.0 110.0)))
(instance face :init :vertices (list (float-vector -15.0 515.0 110.0) (float-vector -15.0 95.0 110.0) (float-vector 15.0 95.0 110.0) (float-vector 15.0 515.0 110.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 604.0 2399.0) (float-vector -5.0 604.0 2399.0) (float-vector -5.0 -14.0 2399.0) (float-vector 5.0 -14.0 2399.0)))
(instance face :init :vertices (list (float-vector -5.0 604.0 1.0) (float-vector 5.0 604.0 1.0) (float-vector 5.0 -14.0 1.0) (float-vector -5.0 -14.0 1.0)))
(instance face :init :vertices (list (float-vector 5.0 604.0 2399.0) (float-vector 5.0 604.0 1.0) (float-vector -5.0 604.0 1.0) (float-vector -5.0 604.0 2399.0)))
(instance face :init :vertices (list (float-vector 5.0 -14.0 2399.0) (float-vector 5.0 -14.0 1.0) (float-vector 5.0 604.0 1.0) (float-vector 5.0 604.0 2399.0)))
(instance face :init :vertices (list (float-vector -5.0 -14.0 2399.0) (float-vector -5.0 -14.0 1.0) (float-vector 5.0 -14.0 1.0) (float-vector 5.0 -14.0 2399.0)))
(instance face :init :vertices (list (float-vector -5.0 604.0 2399.0) (float-vector -5.0 604.0 1.0) (float-vector -5.0 -14.0 1.0) (float-vector -5.0 -14.0 2399.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :ivory1)
(send (elt bc 1) :set-color :white)
(gl::transparent (elt bc 1) 0.3)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :akiba-door-window-bodyset3 :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 blink1 :newcoords (make-coords :pos (float-vector -15.0 -295.0 0.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink1)
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :door
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :door :axis :-z
:min 0.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; init-ending
(setq links (list blink0 blink1))
(setq joint-list (list joint0))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:door (&rest args) (forward-message-to joint0 args))
(:handle (&rest args) (forward-message-to-all (list ) args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun akiba-door-window (&rest args) (instance* akiba-door-window-object :init args))
;; (format *error-output* "(instance akiba-door-window-object :init) for generating model~%")
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