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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass broom-object
:super cascaded-link
:slots (sensors
handle0 handle1
attention0
))
(defmethod broom-object
(:init
(&rest args &key (name "broom") (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 :broom-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 8.66025 -5.0 1250.0) (float-vector 10.0 0.0 1250.0) (float-vector 8.66025 5.0 1250.0) (float-vector 5.0 8.66025 1250.0) (float-vector 5.329071e-15 10.0 1250.0) (float-vector -5.0 8.66025 1250.0) (float-vector -8.66025 5.0 1250.0) (float-vector -10.0 1.065814e-14 1250.0) (float-vector -8.66025 -5.0 1250.0) (float-vector -5.0 -8.66025 1250.0) (float-vector -1.598721e-14 -10.0 1250.0) (float-vector 5.0 -8.66025 1250.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 200.0) (float-vector 8.66025 -5.0 200.0) (float-vector 5.0 -8.66025 200.0) (float-vector -1.598721e-14 -10.0 200.0) (float-vector -5.0 -8.66025 200.0) (float-vector -8.66025 -5.0 200.0) (float-vector -10.0 1.065814e-14 200.0) (float-vector -8.66025 5.0 200.0) (float-vector -5.0 8.66025 200.0) (float-vector 5.329071e-15 10.0 200.0) (float-vector 5.0 8.66025 200.0) (float-vector 8.66025 5.0 200.0)))
(instance face :init :vertices (list (float-vector 8.66025 -5.0 1250.0) (float-vector 8.66025 -5.0 200.0) (float-vector 10.0 0.0 200.0) (float-vector 10.0 0.0 1250.0)))
(instance face :init :vertices (list (float-vector 5.0 -8.66025 1250.0) (float-vector 5.0 -8.66025 200.0) (float-vector 8.66025 -5.0 200.0) (float-vector 8.66025 -5.0 1250.0)))
(instance face :init :vertices (list (float-vector -1.598721e-14 -10.0 1250.0) (float-vector -1.598721e-14 -10.0 200.0) (float-vector 5.0 -8.66025 200.0) (float-vector 5.0 -8.66025 1250.0)))
(instance face :init :vertices (list (float-vector -5.0 -8.66025 1250.0) (float-vector -5.0 -8.66025 200.0) (float-vector -1.598721e-14 -10.0 200.0) (float-vector -1.598721e-14 -10.0 1250.0)))
(instance face :init :vertices (list (float-vector -8.66025 -5.0 1250.0) (float-vector -8.66025 -5.0 200.0) (float-vector -5.0 -8.66025 200.0) (float-vector -5.0 -8.66025 1250.0)))
(instance face :init :vertices (list (float-vector -10.0 1.065814e-14 1250.0) (float-vector -10.0 1.065814e-14 200.0) (float-vector -8.66025 -5.0 200.0) (float-vector -8.66025 -5.0 1250.0)))
(instance face :init :vertices (list (float-vector -8.66025 5.0 1250.0) (float-vector -8.66025 5.0 200.0) (float-vector -10.0 1.065814e-14 200.0) (float-vector -10.0 1.065814e-14 1250.0)))
(instance face :init :vertices (list (float-vector -5.0 8.66025 1250.0) (float-vector -5.0 8.66025 200.0) (float-vector -8.66025 5.0 200.0) (float-vector -8.66025 5.0 1250.0)))
(instance face :init :vertices (list (float-vector 5.329071e-15 10.0 1250.0) (float-vector 5.329071e-15 10.0 200.0) (float-vector -5.0 8.66025 200.0) (float-vector -5.0 8.66025 1250.0)))
(instance face :init :vertices (list (float-vector 5.0 8.66025 1250.0) (float-vector 5.0 8.66025 200.0) (float-vector 5.329071e-15 10.0 200.0) (float-vector 5.329071e-15 10.0 1250.0)))
(instance face :init :vertices (list (float-vector 8.66025 5.0 1250.0) (float-vector 8.66025 5.0 200.0) (float-vector 5.0 8.66025 200.0) (float-vector 5.0 8.66025 1250.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 1250.0) (float-vector 10.0 0.0 200.0) (float-vector 8.66025 5.0 200.0) (float-vector 8.66025 5.0 1250.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 125.0 -10.0 0.0) (float-vector 60.0 -10.0 170.0) (float-vector 20.0 -10.0 200.0) (float-vector -20.0 -10.0 200.0) (float-vector -60.0 -10.0 170.0) (float-vector -125.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector 60.0 10.0 170.0) (float-vector 125.0 10.0 0.0) (float-vector -125.0 10.0 0.0) (float-vector -60.0 10.0 170.0) (float-vector -20.0 10.0 200.0) (float-vector 20.0 10.0 200.0)))
(instance face :init :vertices (list (float-vector 125.0 -10.0 0.0) (float-vector 125.0 10.0 0.0) (float-vector 60.0 10.0 170.0) (float-vector 60.0 -10.0 170.0)))
(instance face :init :vertices (list (float-vector -125.0 -10.0 0.0) (float-vector -125.0 10.0 0.0) (float-vector 125.0 10.0 0.0) (float-vector 125.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector -60.0 -10.0 170.0) (float-vector -60.0 10.0 170.0) (float-vector -125.0 10.0 0.0) (float-vector -125.0 -10.0 0.0)))
(instance face :init :vertices (list (float-vector -20.0 -10.0 200.0) (float-vector -20.0 10.0 200.0) (float-vector -60.0 10.0 170.0) (float-vector -60.0 -10.0 170.0)))
(instance face :init :vertices (list (float-vector 20.0 -10.0 200.0) (float-vector 20.0 10.0 200.0) (float-vector -20.0 10.0 200.0) (float-vector -20.0 -10.0 200.0)))
(instance face :init :vertices (list (float-vector 60.0 -10.0 170.0) (float-vector 60.0 10.0 170.0) (float-vector 20.0 10.0 200.0) (float-vector 20.0 -10.0 200.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray)
(send (elt bc 1) :set-color :brown)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :broom-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 0.0 830.0) :rot #2f((0.5 0.866025 0.0) (-0.866025 0.5 0.0) (0.0 0.0 1.0)) :name "handle0"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 0.0 0.0 1040.0) :rot #2f((0.5 -0.866025 0.0) (0.866025 0.5 0.0) (0.0 0.0 1.0)) :name "handle1"))
(send blink0 :assoc handle1)
;; definition of :attention
(setq attention0 (make-cascoords :pos (float-vector 0.0 0.0 0.0) :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 handle1) args))
(:handle-handle0 (&rest args) (forward-message-to handle0 args))
(:handle-handle1 (&rest args) (forward-message-to handle1 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 broom (&rest args) (instance* broom-object :init args))
;; (format *error-output* "(instance broom-object :init) for generating model~%")
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