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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass plus-2800-desk-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3
))
(defmethod plus-2800-desk-object
(:init
(&rest args &key (name "plus-2800-desk") (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 :plus-2800-desk-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 600.0 1400.0 705.0) (float-vector -600.0 1400.0 705.0) (float-vector -600.0 -1400.0 705.0) (float-vector 600.0 -1400.0 705.0)))
(instance face :init :vertices (list (float-vector -600.0 1400.0 665.0) (float-vector 600.0 1400.0 665.0) (float-vector 600.0 -1400.0 665.0) (float-vector -600.0 -1400.0 665.0)))
(instance face :init :vertices (list (float-vector 600.0 1400.0 705.0) (float-vector 600.0 1400.0 665.0) (float-vector -600.0 1400.0 665.0) (float-vector -600.0 1400.0 705.0)))
(instance face :init :vertices (list (float-vector 600.0 -1400.0 705.0) (float-vector 600.0 -1400.0 665.0) (float-vector 600.0 1400.0 665.0) (float-vector 600.0 1400.0 705.0)))
(instance face :init :vertices (list (float-vector -600.0 -1400.0 705.0) (float-vector -600.0 -1400.0 665.0) (float-vector 600.0 -1400.0 665.0) (float-vector 600.0 -1400.0 705.0)))
(instance face :init :vertices (list (float-vector -600.0 1400.0 705.0) (float-vector -600.0 1400.0 665.0) (float-vector -600.0 -1400.0 665.0) (float-vector -600.0 -1400.0 705.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 534.641 1230.0 665.0) (float-vector 540.0 1250.0 665.0) (float-vector 534.641 1270.0 665.0) (float-vector 520.0 1284.64 665.0) (float-vector 500.0 1290.0 665.0) (float-vector 480.0 1284.64 665.0) (float-vector 465.359 1270.0 665.0) (float-vector 460.0 1250.0 665.0) (float-vector 465.359 1230.0 665.0) (float-vector 480.0 1215.36 665.0) (float-vector 500.0 1210.0 665.0) (float-vector 520.0 1215.36 665.0)))
(instance face :init :vertices (list (float-vector 540.0 1250.0 0.0) (float-vector 534.641 1230.0 0.0) (float-vector 520.0 1215.36 0.0) (float-vector 500.0 1210.0 0.0) (float-vector 480.0 1215.36 0.0) (float-vector 465.359 1230.0 0.0) (float-vector 460.0 1250.0 0.0) (float-vector 465.359 1270.0 0.0) (float-vector 480.0 1284.64 0.0) (float-vector 500.0 1290.0 0.0) (float-vector 520.0 1284.64 0.0) (float-vector 534.641 1270.0 0.0)))
(instance face :init :vertices (list (float-vector 534.641 1230.0 665.0) (float-vector 534.641 1230.0 0.0) (float-vector 540.0 1250.0 0.0) (float-vector 540.0 1250.0 665.0)))
(instance face :init :vertices (list (float-vector 520.0 1215.36 665.0) (float-vector 520.0 1215.36 0.0) (float-vector 534.641 1230.0 0.0) (float-vector 534.641 1230.0 665.0)))
(instance face :init :vertices (list (float-vector 500.0 1210.0 665.0) (float-vector 500.0 1210.0 0.0) (float-vector 520.0 1215.36 0.0) (float-vector 520.0 1215.36 665.0)))
(instance face :init :vertices (list (float-vector 480.0 1215.36 665.0) (float-vector 480.0 1215.36 0.0) (float-vector 500.0 1210.0 0.0) (float-vector 500.0 1210.0 665.0)))
(instance face :init :vertices (list (float-vector 465.359 1230.0 665.0) (float-vector 465.359 1230.0 0.0) (float-vector 480.0 1215.36 0.0) (float-vector 480.0 1215.36 665.0)))
(instance face :init :vertices (list (float-vector 460.0 1250.0 665.0) (float-vector 460.0 1250.0 0.0) (float-vector 465.359 1230.0 0.0) (float-vector 465.359 1230.0 665.0)))
(instance face :init :vertices (list (float-vector 465.359 1270.0 665.0) (float-vector 465.359 1270.0 0.0) (float-vector 460.0 1250.0 0.0) (float-vector 460.0 1250.0 665.0)))
(instance face :init :vertices (list (float-vector 480.0 1284.64 665.0) (float-vector 480.0 1284.64 0.0) (float-vector 465.359 1270.0 0.0) (float-vector 465.359 1270.0 665.0)))
(instance face :init :vertices (list (float-vector 500.0 1290.0 665.0) (float-vector 500.0 1290.0 0.0) (float-vector 480.0 1284.64 0.0) (float-vector 480.0 1284.64 665.0)))
(instance face :init :vertices (list (float-vector 520.0 1284.64 665.0) (float-vector 520.0 1284.64 0.0) (float-vector 500.0 1290.0 0.0) (float-vector 500.0 1290.0 665.0)))
(instance face :init :vertices (list (float-vector 534.641 1270.0 665.0) (float-vector 534.641 1270.0 0.0) (float-vector 520.0 1284.64 0.0) (float-vector 520.0 1284.64 665.0)))
(instance face :init :vertices (list (float-vector 540.0 1250.0 665.0) (float-vector 540.0 1250.0 0.0) (float-vector 534.641 1270.0 0.0) (float-vector 534.641 1270.0 665.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -465.359 1230.0 665.0) (float-vector -460.0 1250.0 665.0) (float-vector -465.359 1270.0 665.0) (float-vector -480.0 1284.64 665.0) (float-vector -500.0 1290.0 665.0) (float-vector -520.0 1284.64 665.0) (float-vector -534.641 1270.0 665.0) (float-vector -540.0 1250.0 665.0) (float-vector -534.641 1230.0 665.0) (float-vector -520.0 1215.36 665.0) (float-vector -500.0 1210.0 665.0) (float-vector -480.0 1215.36 665.0)))
(instance face :init :vertices (list (float-vector -460.0 1250.0 0.0) (float-vector -465.359 1230.0 0.0) (float-vector -480.0 1215.36 0.0) (float-vector -500.0 1210.0 0.0) (float-vector -520.0 1215.36 0.0) (float-vector -534.641 1230.0 0.0) (float-vector -540.0 1250.0 0.0) (float-vector -534.641 1270.0 0.0) (float-vector -520.0 1284.64 0.0) (float-vector -500.0 1290.0 0.0) (float-vector -480.0 1284.64 0.0) (float-vector -465.359 1270.0 0.0)))
(instance face :init :vertices (list (float-vector -465.359 1230.0 665.0) (float-vector -465.359 1230.0 0.0) (float-vector -460.0 1250.0 0.0) (float-vector -460.0 1250.0 665.0)))
(instance face :init :vertices (list (float-vector -480.0 1215.36 665.0) (float-vector -480.0 1215.36 0.0) (float-vector -465.359 1230.0 0.0) (float-vector -465.359 1230.0 665.0)))
(instance face :init :vertices (list (float-vector -500.0 1210.0 665.0) (float-vector -500.0 1210.0 0.0) (float-vector -480.0 1215.36 0.0) (float-vector -480.0 1215.36 665.0)))
(instance face :init :vertices (list (float-vector -520.0 1215.36 665.0) (float-vector -520.0 1215.36 0.0) (float-vector -500.0 1210.0 0.0) (float-vector -500.0 1210.0 665.0)))
(instance face :init :vertices (list (float-vector -534.641 1230.0 665.0) (float-vector -534.641 1230.0 0.0) (float-vector -520.0 1215.36 0.0) (float-vector -520.0 1215.36 665.0)))
(instance face :init :vertices (list (float-vector -540.0 1250.0 665.0) (float-vector -540.0 1250.0 0.0) (float-vector -534.641 1230.0 0.0) (float-vector -534.641 1230.0 665.0)))
(instance face :init :vertices (list (float-vector -534.641 1270.0 665.0) (float-vector -534.641 1270.0 0.0) (float-vector -540.0 1250.0 0.0) (float-vector -540.0 1250.0 665.0)))
(instance face :init :vertices (list (float-vector -520.0 1284.64 665.0) (float-vector -520.0 1284.64 0.0) (float-vector -534.641 1270.0 0.0) (float-vector -534.641 1270.0 665.0)))
(instance face :init :vertices (list (float-vector -500.0 1290.0 665.0) (float-vector -500.0 1290.0 0.0) (float-vector -520.0 1284.64 0.0) (float-vector -520.0 1284.64 665.0)))
(instance face :init :vertices (list (float-vector -480.0 1284.64 665.0) (float-vector -480.0 1284.64 0.0) (float-vector -500.0 1290.0 0.0) (float-vector -500.0 1290.0 665.0)))
(instance face :init :vertices (list (float-vector -465.359 1270.0 665.0) (float-vector -465.359 1270.0 0.0) (float-vector -480.0 1284.64 0.0) (float-vector -480.0 1284.64 665.0)))
(instance face :init :vertices (list (float-vector -460.0 1250.0 665.0) (float-vector -460.0 1250.0 0.0) (float-vector -465.359 1270.0 0.0) (float-vector -465.359 1270.0 665.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -465.359 -1270.0 665.0) (float-vector -460.0 -1250.0 665.0) (float-vector -465.359 -1230.0 665.0) (float-vector -480.0 -1215.36 665.0) (float-vector -500.0 -1210.0 665.0) (float-vector -520.0 -1215.36 665.0) (float-vector -534.641 -1230.0 665.0) (float-vector -540.0 -1250.0 665.0) (float-vector -534.641 -1270.0 665.0) (float-vector -520.0 -1284.64 665.0) (float-vector -500.0 -1290.0 665.0) (float-vector -480.0 -1284.64 665.0)))
(instance face :init :vertices (list (float-vector -460.0 -1250.0 0.0) (float-vector -465.359 -1270.0 0.0) (float-vector -480.0 -1284.64 0.0) (float-vector -500.0 -1290.0 0.0) (float-vector -520.0 -1284.64 0.0) (float-vector -534.641 -1270.0 0.0) (float-vector -540.0 -1250.0 0.0) (float-vector -534.641 -1230.0 0.0) (float-vector -520.0 -1215.36 0.0) (float-vector -500.0 -1210.0 0.0) (float-vector -480.0 -1215.36 0.0) (float-vector -465.359 -1230.0 0.0)))
(instance face :init :vertices (list (float-vector -465.359 -1270.0 665.0) (float-vector -465.359 -1270.0 0.0) (float-vector -460.0 -1250.0 0.0) (float-vector -460.0 -1250.0 665.0)))
(instance face :init :vertices (list (float-vector -480.0 -1284.64 665.0) (float-vector -480.0 -1284.64 0.0) (float-vector -465.359 -1270.0 0.0) (float-vector -465.359 -1270.0 665.0)))
(instance face :init :vertices (list (float-vector -500.0 -1290.0 665.0) (float-vector -500.0 -1290.0 0.0) (float-vector -480.0 -1284.64 0.0) (float-vector -480.0 -1284.64 665.0)))
(instance face :init :vertices (list (float-vector -520.0 -1284.64 665.0) (float-vector -520.0 -1284.64 0.0) (float-vector -500.0 -1290.0 0.0) (float-vector -500.0 -1290.0 665.0)))
(instance face :init :vertices (list (float-vector -534.641 -1270.0 665.0) (float-vector -534.641 -1270.0 0.0) (float-vector -520.0 -1284.64 0.0) (float-vector -520.0 -1284.64 665.0)))
(instance face :init :vertices (list (float-vector -540.0 -1250.0 665.0) (float-vector -540.0 -1250.0 0.0) (float-vector -534.641 -1270.0 0.0) (float-vector -534.641 -1270.0 665.0)))
(instance face :init :vertices (list (float-vector -534.641 -1230.0 665.0) (float-vector -534.641 -1230.0 0.0) (float-vector -540.0 -1250.0 0.0) (float-vector -540.0 -1250.0 665.0)))
(instance face :init :vertices (list (float-vector -520.0 -1215.36 665.0) (float-vector -520.0 -1215.36 0.0) (float-vector -534.641 -1230.0 0.0) (float-vector -534.641 -1230.0 665.0)))
(instance face :init :vertices (list (float-vector -500.0 -1210.0 665.0) (float-vector -500.0 -1210.0 0.0) (float-vector -520.0 -1215.36 0.0) (float-vector -520.0 -1215.36 665.0)))
(instance face :init :vertices (list (float-vector -480.0 -1215.36 665.0) (float-vector -480.0 -1215.36 0.0) (float-vector -500.0 -1210.0 0.0) (float-vector -500.0 -1210.0 665.0)))
(instance face :init :vertices (list (float-vector -465.359 -1230.0 665.0) (float-vector -465.359 -1230.0 0.0) (float-vector -480.0 -1215.36 0.0) (float-vector -480.0 -1215.36 665.0)))
(instance face :init :vertices (list (float-vector -460.0 -1250.0 665.0) (float-vector -460.0 -1250.0 0.0) (float-vector -465.359 -1230.0 0.0) (float-vector -465.359 -1230.0 665.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 534.641 -1270.0 665.0) (float-vector 540.0 -1250.0 665.0) (float-vector 534.641 -1230.0 665.0) (float-vector 520.0 -1215.36 665.0) (float-vector 500.0 -1210.0 665.0) (float-vector 480.0 -1215.36 665.0) (float-vector 465.359 -1230.0 665.0) (float-vector 460.0 -1250.0 665.0) (float-vector 465.359 -1270.0 665.0) (float-vector 480.0 -1284.64 665.0) (float-vector 500.0 -1290.0 665.0) (float-vector 520.0 -1284.64 665.0)))
(instance face :init :vertices (list (float-vector 540.0 -1250.0 0.0) (float-vector 534.641 -1270.0 0.0) (float-vector 520.0 -1284.64 0.0) (float-vector 500.0 -1290.0 0.0) (float-vector 480.0 -1284.64 0.0) (float-vector 465.359 -1270.0 0.0) (float-vector 460.0 -1250.0 0.0) (float-vector 465.359 -1230.0 0.0) (float-vector 480.0 -1215.36 0.0) (float-vector 500.0 -1210.0 0.0) (float-vector 520.0 -1215.36 0.0) (float-vector 534.641 -1230.0 0.0)))
(instance face :init :vertices (list (float-vector 534.641 -1270.0 665.0) (float-vector 534.641 -1270.0 0.0) (float-vector 540.0 -1250.0 0.0) (float-vector 540.0 -1250.0 665.0)))
(instance face :init :vertices (list (float-vector 520.0 -1284.64 665.0) (float-vector 520.0 -1284.64 0.0) (float-vector 534.641 -1270.0 0.0) (float-vector 534.641 -1270.0 665.0)))
(instance face :init :vertices (list (float-vector 500.0 -1290.0 665.0) (float-vector 500.0 -1290.0 0.0) (float-vector 520.0 -1284.64 0.0) (float-vector 520.0 -1284.64 665.0)))
(instance face :init :vertices (list (float-vector 480.0 -1284.64 665.0) (float-vector 480.0 -1284.64 0.0) (float-vector 500.0 -1290.0 0.0) (float-vector 500.0 -1290.0 665.0)))
(instance face :init :vertices (list (float-vector 465.359 -1270.0 665.0) (float-vector 465.359 -1270.0 0.0) (float-vector 480.0 -1284.64 0.0) (float-vector 480.0 -1284.64 665.0)))
(instance face :init :vertices (list (float-vector 460.0 -1250.0 665.0) (float-vector 460.0 -1250.0 0.0) (float-vector 465.359 -1270.0 0.0) (float-vector 465.359 -1270.0 665.0)))
(instance face :init :vertices (list (float-vector 465.359 -1230.0 665.0) (float-vector 465.359 -1230.0 0.0) (float-vector 460.0 -1250.0 0.0) (float-vector 460.0 -1250.0 665.0)))
(instance face :init :vertices (list (float-vector 480.0 -1215.36 665.0) (float-vector 480.0 -1215.36 0.0) (float-vector 465.359 -1230.0 0.0) (float-vector 465.359 -1230.0 665.0)))
(instance face :init :vertices (list (float-vector 500.0 -1210.0 665.0) (float-vector 500.0 -1210.0 0.0) (float-vector 480.0 -1215.36 0.0) (float-vector 480.0 -1215.36 665.0)))
(instance face :init :vertices (list (float-vector 520.0 -1215.36 665.0) (float-vector 520.0 -1215.36 0.0) (float-vector 500.0 -1210.0 0.0) (float-vector 500.0 -1210.0 665.0)))
(instance face :init :vertices (list (float-vector 534.641 -1230.0 665.0) (float-vector 534.641 -1230.0 0.0) (float-vector 520.0 -1215.36 0.0) (float-vector 520.0 -1215.36 665.0)))
(instance face :init :vertices (list (float-vector 540.0 -1250.0 665.0) (float-vector 540.0 -1250.0 0.0) (float-vector 534.641 -1230.0 0.0) (float-vector 534.641 -1230.0 665.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :white)
(send (elt bc 1) :set-color :white)
(send (elt bc 2) :set-color :white)
(send (elt bc 3) :set-color :white)
(send (elt bc 4) :set-color :white)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :plus-2800-desk-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 -600.0 300.0 665.0) :rot #2f((1.0 2.465190e-32 -2.449294e-16) (-2.449294e-16 2.220446e-16 -1.0) (2.465190e-32 1.0 2.220446e-16)) :name "handle-l"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -600.0 -300.0 665.0) :rot #2f((1.0 -7.498799e-33 6.842278e-49) (6.842278e-49 2.220446e-16 1.0) (-7.498799e-33 -1.0 2.220446e-16)) :name "handle-r"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 600.0 -300.0 665.0) :rot #2f((-1.0 1.232595e-32 1.224647e-16) (1.224647e-16 2.220446e-16 1.0) (-1.232595e-32 1.0 -2.220446e-16)) :name "handle-l"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 600.0 300.0 665.0) :rot #2f((-1.0 1.232595e-32 -1.224647e-16) (1.224647e-16 2.220446e-16 -1.0) (1.232595e-32 -1.0 -2.220446e-16)) :name "handle-r"))
(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-handle-l (&rest args) (forward-message-to handle0 args))
(:handle-handle-r (&rest args) (forward-message-to handle1 args))
(:handle-handle-l (&rest args) (forward-message-to handle2 args))
(:handle-handle-r (&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 plus-2800-desk (&rest args) (instance* plus-2800-desk-object :init args))
;; (format *error-output* "(instance plus-2800-desk-object :init) for generating model~%")
|
