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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass maruman-55-analog-clock-object
:super cascaded-link
:slots (sensors
joint0 joint1 joint2 ))
(defmethod maruman-55-analog-clock-object
(:init
(&rest args &key (name "maruman-55-analog-clock") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1 blink2 blink3
)
(send-super* :init :name name args)
;; definition of link
;; definition of :maruman-55-analog-clock-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 12.5 27.5 55.0) (float-vector 6.5 27.5 55.0) (float-vector 6.5 -27.5 55.0) (float-vector 12.5 -27.5 55.0)))
(instance face :init :vertices (list (float-vector 6.5 27.5 0.0) (float-vector 12.5 27.5 0.0) (float-vector 12.5 -27.5 0.0) (float-vector 6.5 -27.5 0.0)))
(instance face :init :vertices (list (float-vector 12.5 27.5 55.0) (float-vector 12.5 27.5 0.0) (float-vector 6.5 27.5 0.0) (float-vector 6.5 27.5 55.0)))
(instance face :init :vertices (list (float-vector 12.5 -27.5 55.0) (float-vector 12.5 -27.5 0.0) (float-vector 12.5 27.5 0.0) (float-vector 12.5 27.5 55.0)))
(instance face :init :vertices (list (float-vector 6.5 -27.5 55.0) (float-vector 6.5 -27.5 0.0) (float-vector 12.5 -27.5 0.0) (float-vector 12.5 -27.5 55.0)))
(instance face :init :vertices (list (float-vector 6.5 27.5 55.0) (float-vector 6.5 27.5 0.0) (float-vector 6.5 -27.5 0.0) (float-vector 6.5 -27.5 55.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 6.5 27.5 55.0) (float-vector -12.5 27.5 55.0) (float-vector -12.5 -27.5 55.0) (float-vector 6.5 -27.5 55.0)))
(instance face :init :vertices (list (float-vector -12.5 27.5 0.0) (float-vector 6.5 27.5 0.0) (float-vector 6.5 -27.5 0.0) (float-vector -12.5 -27.5 0.0)))
(instance face :init :vertices (list (float-vector 6.5 27.5 55.0) (float-vector 6.5 27.5 0.0) (float-vector -12.5 27.5 0.0) (float-vector -12.5 27.5 55.0)))
(instance face :init :vertices (list (float-vector 6.5 -27.5 55.0) (float-vector 6.5 -27.5 0.0) (float-vector 6.5 27.5 0.0) (float-vector 6.5 27.5 55.0)))
(instance face :init :vertices (list (float-vector -12.5 -27.5 55.0) (float-vector -12.5 -27.5 0.0) (float-vector 6.5 -27.5 0.0) (float-vector 6.5 -27.5 55.0)))
(instance face :init :vertices (list (float-vector -12.5 27.5 55.0) (float-vector -12.5 27.5 0.0) (float-vector -12.5 -27.5 0.0) (float-vector -12.5 -27.5 55.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(gl::transparent (elt bc 0) 0.1)
(send (elt bc 1) :set-color :gray10)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :maruman-55-analog-clock-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 :maruman-55-analog-clock-bodyset3
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 1.0 13.75) (float-vector -0.5 1.0 13.75) (float-vector -0.5 -1.0 13.75) (float-vector 0.5 -1.0 13.75)))
(instance face :init :vertices (list (float-vector -0.5 1.0 0.0) (float-vector 0.5 1.0 0.0) (float-vector 0.5 -1.0 0.0) (float-vector -0.5 -1.0 0.0)))
(instance face :init :vertices (list (float-vector 0.5 1.0 13.75) (float-vector 0.5 1.0 0.0) (float-vector -0.5 1.0 0.0) (float-vector -0.5 1.0 13.75)))
(instance face :init :vertices (list (float-vector 0.5 -1.0 13.75) (float-vector 0.5 -1.0 0.0) (float-vector 0.5 1.0 0.0) (float-vector 0.5 1.0 13.75)))
(instance face :init :vertices (list (float-vector -0.5 -1.0 13.75) (float-vector -0.5 -1.0 0.0) (float-vector 0.5 -1.0 0.0) (float-vector 0.5 -1.0 13.75)))
(instance face :init :vertices (list (float-vector -0.5 1.0 13.75) (float-vector -0.5 1.0 0.0) (float-vector -0.5 -1.0 0.0) (float-vector -0.5 -1.0 13.75)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 -1.5 -2.59808) (float-vector 0.5 0.0 -3.0) (float-vector 0.5 1.5 -2.59808) (float-vector 0.5 2.59808 -1.5) (float-vector 0.5 3.0 0.0) (float-vector 0.5 2.59808 1.5) (float-vector 0.5 1.5 2.59808) (float-vector 0.5 2.442491e-15 3.0) (float-vector 0.5 -1.5 2.59808) (float-vector 0.5 -2.59808 1.5) (float-vector 0.5 -3.0 3.552714e-15) (float-vector 0.5 -2.59808 -1.5)))
(instance face :init :vertices (list (float-vector -0.5 0.0 -3.0) (float-vector -0.5 -1.5 -2.59808) (float-vector -0.5 -2.59808 -1.5) (float-vector -0.5 -3.0 3.552714e-15) (float-vector -0.5 -2.59808 1.5) (float-vector -0.5 -1.5 2.59808) (float-vector -0.5 2.442491e-15 3.0) (float-vector -0.5 1.5 2.59808) (float-vector -0.5 2.59808 1.5) (float-vector -0.5 3.0 0.0) (float-vector -0.5 2.59808 -1.5) (float-vector -0.5 1.5 -2.59808)))
(instance face :init :vertices (list (float-vector 0.5 -1.5 -2.59808) (float-vector -0.5 -1.5 -2.59808) (float-vector -0.5 0.0 -3.0) (float-vector 0.5 0.0 -3.0)))
(instance face :init :vertices (list (float-vector 0.5 -2.59808 -1.5) (float-vector -0.5 -2.59808 -1.5) (float-vector -0.5 -1.5 -2.59808) (float-vector 0.5 -1.5 -2.59808)))
(instance face :init :vertices (list (float-vector 0.5 -3.0 3.552714e-15) (float-vector -0.5 -3.0 3.552714e-15) (float-vector -0.5 -2.59808 -1.5) (float-vector 0.5 -2.59808 -1.5)))
(instance face :init :vertices (list (float-vector 0.5 -2.59808 1.5) (float-vector -0.5 -2.59808 1.5) (float-vector -0.5 -3.0 3.552714e-15) (float-vector 0.5 -3.0 3.552714e-15)))
(instance face :init :vertices (list (float-vector 0.5 -1.5 2.59808) (float-vector -0.5 -1.5 2.59808) (float-vector -0.5 -2.59808 1.5) (float-vector 0.5 -2.59808 1.5)))
(instance face :init :vertices (list (float-vector 0.5 2.442491e-15 3.0) (float-vector -0.5 2.442491e-15 3.0) (float-vector -0.5 -1.5 2.59808) (float-vector 0.5 -1.5 2.59808)))
(instance face :init :vertices (list (float-vector 0.5 1.5 2.59808) (float-vector -0.5 1.5 2.59808) (float-vector -0.5 2.442491e-15 3.0) (float-vector 0.5 2.442491e-15 3.0)))
(instance face :init :vertices (list (float-vector 0.5 2.59808 1.5) (float-vector -0.5 2.59808 1.5) (float-vector -0.5 1.5 2.59808) (float-vector 0.5 1.5 2.59808)))
(instance face :init :vertices (list (float-vector 0.5 3.0 0.0) (float-vector -0.5 3.0 0.0) (float-vector -0.5 2.59808 1.5) (float-vector 0.5 2.59808 1.5)))
(instance face :init :vertices (list (float-vector 0.5 2.59808 -1.5) (float-vector -0.5 2.59808 -1.5) (float-vector -0.5 3.0 0.0) (float-vector 0.5 3.0 0.0)))
(instance face :init :vertices (list (float-vector 0.5 1.5 -2.59808) (float-vector -0.5 1.5 -2.59808) (float-vector -0.5 2.59808 -1.5) (float-vector 0.5 2.59808 -1.5)))
(instance face :init :vertices (list (float-vector 0.5 0.0 -3.0) (float-vector -0.5 0.0 -3.0) (float-vector -0.5 1.5 -2.59808) (float-vector 0.5 1.5 -2.59808)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :white)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :maruman-55-analog-clock-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 :maruman-55-analog-clock-bodyset4
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 0.5 22.0) (float-vector -0.5 0.5 22.0) (float-vector -0.5 -0.5 22.0) (float-vector 0.5 -0.5 22.0)))
(instance face :init :vertices (list (float-vector -0.5 0.5 -2.131628e-14) (float-vector 0.5 0.5 -2.131628e-14) (float-vector 0.5 -0.5 -2.131628e-14) (float-vector -0.5 -0.5 -2.131628e-14)))
(instance face :init :vertices (list (float-vector 0.5 0.5 22.0) (float-vector 0.5 0.5 -2.131628e-14) (float-vector -0.5 0.5 -2.131628e-14) (float-vector -0.5 0.5 22.0)))
(instance face :init :vertices (list (float-vector 0.5 -0.5 22.0) (float-vector 0.5 -0.5 -2.131628e-14) (float-vector 0.5 0.5 -2.131628e-14) (float-vector 0.5 0.5 22.0)))
(instance face :init :vertices (list (float-vector -0.5 -0.5 22.0) (float-vector -0.5 -0.5 -2.131628e-14) (float-vector 0.5 -0.5 -2.131628e-14) (float-vector 0.5 -0.5 22.0)))
(instance face :init :vertices (list (float-vector -0.5 0.5 22.0) (float-vector -0.5 0.5 -2.131628e-14) (float-vector -0.5 -0.5 -2.131628e-14) (float-vector -0.5 -0.5 22.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 -1.5 -2.59808) (float-vector 0.5 0.0 -3.0) (float-vector 0.5 1.5 -2.59808) (float-vector 0.5 2.59808 -1.5) (float-vector 0.5 3.0 0.0) (float-vector 0.5 2.59808 1.5) (float-vector 0.5 1.5 2.59808) (float-vector 0.5 2.442491e-15 3.0) (float-vector 0.5 -1.5 2.59808) (float-vector 0.5 -2.59808 1.5) (float-vector 0.5 -3.0 3.552714e-15) (float-vector 0.5 -2.59808 -1.5)))
(instance face :init :vertices (list (float-vector -0.5 0.0 -3.0) (float-vector -0.5 -1.5 -2.59808) (float-vector -0.5 -2.59808 -1.5) (float-vector -0.5 -3.0 3.552714e-15) (float-vector -0.5 -2.59808 1.5) (float-vector -0.5 -1.5 2.59808) (float-vector -0.5 2.442491e-15 3.0) (float-vector -0.5 1.5 2.59808) (float-vector -0.5 2.59808 1.5) (float-vector -0.5 3.0 0.0) (float-vector -0.5 2.59808 -1.5) (float-vector -0.5 1.5 -2.59808)))
(instance face :init :vertices (list (float-vector 0.5 -1.5 -2.59808) (float-vector -0.5 -1.5 -2.59808) (float-vector -0.5 0.0 -3.0) (float-vector 0.5 0.0 -3.0)))
(instance face :init :vertices (list (float-vector 0.5 -2.59808 -1.5) (float-vector -0.5 -2.59808 -1.5) (float-vector -0.5 -1.5 -2.59808) (float-vector 0.5 -1.5 -2.59808)))
(instance face :init :vertices (list (float-vector 0.5 -3.0 3.552714e-15) (float-vector -0.5 -3.0 3.552714e-15) (float-vector -0.5 -2.59808 -1.5) (float-vector 0.5 -2.59808 -1.5)))
(instance face :init :vertices (list (float-vector 0.5 -2.59808 1.5) (float-vector -0.5 -2.59808 1.5) (float-vector -0.5 -3.0 3.552714e-15) (float-vector 0.5 -3.0 3.552714e-15)))
(instance face :init :vertices (list (float-vector 0.5 -1.5 2.59808) (float-vector -0.5 -1.5 2.59808) (float-vector -0.5 -2.59808 1.5) (float-vector 0.5 -2.59808 1.5)))
(instance face :init :vertices (list (float-vector 0.5 2.442491e-15 3.0) (float-vector -0.5 2.442491e-15 3.0) (float-vector -0.5 -1.5 2.59808) (float-vector 0.5 -1.5 2.59808)))
(instance face :init :vertices (list (float-vector 0.5 1.5 2.59808) (float-vector -0.5 1.5 2.59808) (float-vector -0.5 2.442491e-15 3.0) (float-vector 0.5 2.442491e-15 3.0)))
(instance face :init :vertices (list (float-vector 0.5 2.59808 1.5) (float-vector -0.5 2.59808 1.5) (float-vector -0.5 1.5 2.59808) (float-vector 0.5 1.5 2.59808)))
(instance face :init :vertices (list (float-vector 0.5 3.0 0.0) (float-vector -0.5 3.0 0.0) (float-vector -0.5 2.59808 1.5) (float-vector 0.5 2.59808 1.5)))
(instance face :init :vertices (list (float-vector 0.5 2.59808 -1.5) (float-vector -0.5 2.59808 -1.5) (float-vector -0.5 3.0 0.0) (float-vector 0.5 3.0 0.0)))
(instance face :init :vertices (list (float-vector 0.5 1.5 -2.59808) (float-vector -0.5 1.5 -2.59808) (float-vector -0.5 2.59808 -1.5) (float-vector 0.5 2.59808 -1.5)))
(instance face :init :vertices (list (float-vector 0.5 0.0 -3.0) (float-vector -0.5 0.0 -3.0) (float-vector -0.5 1.5 -2.59808) (float-vector 0.5 1.5 -2.59808)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :white)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :maruman-55-analog-clock-bodyset4 :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 :maruman-55-analog-clock-bodyset5
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 0.25 23.375) (float-vector -0.5 0.25 23.375) (float-vector -0.5 -0.25 23.375) (float-vector 0.5 -0.25 23.375)))
(instance face :init :vertices (list (float-vector -0.5 0.25 -2.131628e-14) (float-vector 0.5 0.25 -2.131628e-14) (float-vector 0.5 -0.25 -2.131628e-14) (float-vector -0.5 -0.25 -2.131628e-14)))
(instance face :init :vertices (list (float-vector 0.5 0.25 23.375) (float-vector 0.5 0.25 -2.131628e-14) (float-vector -0.5 0.25 -2.131628e-14) (float-vector -0.5 0.25 23.375)))
(instance face :init :vertices (list (float-vector 0.5 -0.25 23.375) (float-vector 0.5 -0.25 -2.131628e-14) (float-vector 0.5 0.25 -2.131628e-14) (float-vector 0.5 0.25 23.375)))
(instance face :init :vertices (list (float-vector -0.5 -0.25 23.375) (float-vector -0.5 -0.25 -2.131628e-14) (float-vector 0.5 -0.25 -2.131628e-14) (float-vector 0.5 -0.25 23.375)))
(instance face :init :vertices (list (float-vector -0.5 0.25 23.375) (float-vector -0.5 0.25 -2.131628e-14) (float-vector -0.5 -0.25 -2.131628e-14) (float-vector -0.5 -0.25 23.375)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 0.5 -1.5 -2.59808) (float-vector 0.5 0.0 -3.0) (float-vector 0.5 1.5 -2.59808) (float-vector 0.5 2.59808 -1.5) (float-vector 0.5 3.0 0.0) (float-vector 0.5 2.59808 1.5) (float-vector 0.5 1.5 2.59808) (float-vector 0.5 2.442491e-15 3.0) (float-vector 0.5 -1.5 2.59808) (float-vector 0.5 -2.59808 1.5) (float-vector 0.5 -3.0 3.552714e-15) (float-vector 0.5 -2.59808 -1.5)))
(instance face :init :vertices (list (float-vector -0.5 0.0 -3.0) (float-vector -0.5 -1.5 -2.59808) (float-vector -0.5 -2.59808 -1.5) (float-vector -0.5 -3.0 3.552714e-15) (float-vector -0.5 -2.59808 1.5) (float-vector -0.5 -1.5 2.59808) (float-vector -0.5 2.442491e-15 3.0) (float-vector -0.5 1.5 2.59808) (float-vector -0.5 2.59808 1.5) (float-vector -0.5 3.0 0.0) (float-vector -0.5 2.59808 -1.5) (float-vector -0.5 1.5 -2.59808)))
(instance face :init :vertices (list (float-vector 0.5 -1.5 -2.59808) (float-vector -0.5 -1.5 -2.59808) (float-vector -0.5 0.0 -3.0) (float-vector 0.5 0.0 -3.0)))
(instance face :init :vertices (list (float-vector 0.5 -2.59808 -1.5) (float-vector -0.5 -2.59808 -1.5) (float-vector -0.5 -1.5 -2.59808) (float-vector 0.5 -1.5 -2.59808)))
(instance face :init :vertices (list (float-vector 0.5 -3.0 3.552714e-15) (float-vector -0.5 -3.0 3.552714e-15) (float-vector -0.5 -2.59808 -1.5) (float-vector 0.5 -2.59808 -1.5)))
(instance face :init :vertices (list (float-vector 0.5 -2.59808 1.5) (float-vector -0.5 -2.59808 1.5) (float-vector -0.5 -3.0 3.552714e-15) (float-vector 0.5 -3.0 3.552714e-15)))
(instance face :init :vertices (list (float-vector 0.5 -1.5 2.59808) (float-vector -0.5 -1.5 2.59808) (float-vector -0.5 -2.59808 1.5) (float-vector 0.5 -2.59808 1.5)))
(instance face :init :vertices (list (float-vector 0.5 2.442491e-15 3.0) (float-vector -0.5 2.442491e-15 3.0) (float-vector -0.5 -1.5 2.59808) (float-vector 0.5 -1.5 2.59808)))
(instance face :init :vertices (list (float-vector 0.5 1.5 2.59808) (float-vector -0.5 1.5 2.59808) (float-vector -0.5 2.442491e-15 3.0) (float-vector 0.5 2.442491e-15 3.0)))
(instance face :init :vertices (list (float-vector 0.5 2.59808 1.5) (float-vector -0.5 2.59808 1.5) (float-vector -0.5 1.5 2.59808) (float-vector 0.5 1.5 2.59808)))
(instance face :init :vertices (list (float-vector 0.5 3.0 0.0) (float-vector -0.5 3.0 0.0) (float-vector -0.5 2.59808 1.5) (float-vector 0.5 2.59808 1.5)))
(instance face :init :vertices (list (float-vector 0.5 2.59808 -1.5) (float-vector -0.5 2.59808 -1.5) (float-vector -0.5 3.0 0.0) (float-vector 0.5 3.0 0.0)))
(instance face :init :vertices (list (float-vector 0.5 1.5 -2.59808) (float-vector -0.5 1.5 -2.59808) (float-vector -0.5 2.59808 -1.5) (float-vector 0.5 2.59808 -1.5)))
(instance face :init :vertices (list (float-vector 0.5 0.0 -3.0) (float-vector -0.5 0.0 -3.0) (float-vector -0.5 1.5 -2.59808) (float-vector 0.5 1.5 -2.59808)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :red)
(send (elt bc 1) :set-color :red)
(setq blink3 (instance bodyset-link :init (make-cascoords) :bodies bc :name :maruman-55-analog-clock-bodyset5 :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 blink3 :newcoords (make-coords :pos (float-vector 9.5 0.0 27.5) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink3)
(send blink2 :newcoords (make-coords :pos (float-vector 8.5 0.0 27.5) :rot #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
(send blink0 :assoc blink2)
(send blink1 :newcoords (make-coords :pos (float-vector 7.5 0.0 27.5) :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 :hour-joint
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :hour-joint :axis :-x
:min -360.0 :max 360.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :minute-joint
(setq joint1 (instance rotational-joint :init
:parent-link blink1 :child-link blink2 :name :minute-joint :axis :-x
:min -360.0 :max 360.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :second-joint
(setq joint2 (instance rotational-joint :init
:parent-link blink2 :child-link blink3 :name :second-joint :axis :-x
:min -360.0 :max 360.0 :max-joint-velocity 5 :max-joint-torque 100))
;; init-ending
(setq links (list blink0 blink1 blink2 blink3))
(setq joint-list (list joint0 joint1 joint2))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:hour-joint (&rest args) (forward-message-to joint0 args))
(:minute-joint (&rest args) (forward-message-to joint1 args))
(:second-joint (&rest args) (forward-message-to joint2 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 maruman-55-analog-clock (&rest args) (instance* maruman-55-analog-clock-object :init args))
;; (format *error-output* "(instance maruman-55-analog-clock-object :init) for generating model~%")
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