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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass book-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3
))
(defmethod book-object
(:init
(&rest args &key (name "book") (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 :book-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.0 0.0 210.0) (float-vector 0.0 -9.0 210.0) (float-vector 2.0 -10.0 210.0) (float-vector 150.0 -10.0 210.0) (float-vector 150.0 -9.0 210.0) (float-vector 2.0 -9.0 210.0) (float-vector 2.0 9.0 210.0) (float-vector 150.0 9.0 210.0) (float-vector 150.0 10.0 210.0) (float-vector 5.0 10.0 210.0) (float-vector 0.0 9.0 210.0)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 0.0) (float-vector 0.0 0.0 0.0) (float-vector 0.0 9.0 0.0) (float-vector 5.0 10.0 0.0) (float-vector 150.0 10.0 0.0) (float-vector 150.0 9.0 0.0) (float-vector 2.0 9.0 0.0) (float-vector 2.0 -9.0 0.0) (float-vector 150.0 -9.0 0.0) (float-vector 150.0 -10.0 0.0) (float-vector 2.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector 0.0 0.0 210.0) (float-vector 0.0 0.0 0.0) (float-vector 0.0 -9.0 0.0) (float-vector 0.0 -9.0 210.0)))
(instance face :init :vertices (list (float-vector 0.0 9.0 210.0) (float-vector 0.0 9.0 0.0) (float-vector 0.0 0.0 0.0) (float-vector 0.0 0.0 210.0)))
(instance face :init :vertices (list (float-vector 5.0 10.0 210.0) (float-vector 5.0 10.0 0.0) (float-vector 0.0 9.0 0.0) (float-vector 0.0 9.0 210.0)))
(instance face :init :vertices (list (float-vector 150.0 10.0 210.0) (float-vector 150.0 10.0 0.0) (float-vector 5.0 10.0 0.0) (float-vector 5.0 10.0 210.0)))
(instance face :init :vertices (list (float-vector 150.0 9.0 210.0) (float-vector 150.0 9.0 0.0) (float-vector 150.0 10.0 0.0) (float-vector 150.0 10.0 210.0)))
(instance face :init :vertices (list (float-vector 2.0 9.0 210.0) (float-vector 2.0 9.0 0.0) (float-vector 150.0 9.0 0.0) (float-vector 150.0 9.0 210.0)))
(instance face :init :vertices (list (float-vector 2.0 -9.0 210.0) (float-vector 2.0 -9.0 0.0) (float-vector 2.0 9.0 0.0) (float-vector 2.0 9.0 210.0)))
(instance face :init :vertices (list (float-vector 150.0 -9.0 210.0) (float-vector 150.0 -9.0 0.0) (float-vector 2.0 -9.0 0.0) (float-vector 2.0 -9.0 210.0)))
(instance face :init :vertices (list (float-vector 150.0 -10.0 210.0) (float-vector 150.0 -10.0 0.0) (float-vector 150.0 -9.0 0.0) (float-vector 150.0 -9.0 210.0)))
(instance face :init :vertices (list (float-vector 2.0 -10.0 210.0) (float-vector 2.0 -10.0 0.0) (float-vector 150.0 -10.0 0.0) (float-vector 150.0 -10.0 210.0)))
(instance face :init :vertices (list (float-vector 0.0 -9.0 210.0) (float-vector 0.0 -9.0 0.0) (float-vector 2.0 -10.0 0.0) (float-vector 2.0 -10.0 210.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 148.0 8.0 208.0) (float-vector 2.0 8.0 208.0) (float-vector 2.0 -8.0 208.0) (float-vector 148.0 -8.0 208.0)))
(instance face :init :vertices (list (float-vector 2.0 8.0 2.0) (float-vector 148.0 8.0 2.0) (float-vector 148.0 -8.0 2.0) (float-vector 2.0 -8.0 2.0)))
(instance face :init :vertices (list (float-vector 148.0 8.0 208.0) (float-vector 148.0 8.0 2.0) (float-vector 2.0 8.0 2.0) (float-vector 2.0 8.0 208.0)))
(instance face :init :vertices (list (float-vector 148.0 -8.0 208.0) (float-vector 148.0 -8.0 2.0) (float-vector 148.0 8.0 2.0) (float-vector 148.0 8.0 208.0)))
(instance face :init :vertices (list (float-vector 2.0 -8.0 208.0) (float-vector 2.0 -8.0 2.0) (float-vector 148.0 -8.0 2.0) (float-vector 148.0 -8.0 208.0)))
(instance face :init :vertices (list (float-vector 2.0 8.0 208.0) (float-vector 2.0 8.0 2.0) (float-vector 2.0 -8.0 2.0) (float-vector 2.0 -8.0 208.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :blue)
(send (elt bc 1) :set-color :white)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :book-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 75.0 0.0 210.0) :rot #2f((2.220446e-16 0.0 1.0) (0.0 1.0 0.0) (-1.0 0.0 2.220446e-16)) :name "handle0"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 75.0 0.0 0.0) :rot #2f((2.220446e-16 0.0 -1.0) (0.0 1.0 0.0) (1.0 0.0 2.220446e-16)) :name "handle1"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 150.0 0.0 105.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle2"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 0.0 0.0 105.0) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)) :name "handle3"))
(send blink0 :assoc handle3)
;; 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 handle1 handle2 handle3) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:handle-handle1 (&rest args) (forward-message-to handle1 args))
(:handle-handle2 (&rest args) (forward-message-to handle2 args))
(:handle-handle3 (&rest args) (forward-message-to handle3 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun book (&rest args) (instance* book-object :init args))
;; (format *error-output* "(instance book-object :init) for generating model~%")
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