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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room610-sweeper-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3
joint0 joint1 ))
(defmethod room610-sweeper-object
(:init
(&rest args &key (name "room610-sweeper") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0 blink1 blink2
)
(send-super* :init :name name args)
;; definition of link
;; definition of :box
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 75.0 150.0 40.0) (float-vector -75.0 150.0 40.0) (float-vector -75.0 -150.0 40.0) (float-vector 75.0 -150.0 40.0)))
(instance face :init :vertices (list (float-vector -75.0 150.0 0.0) (float-vector 75.0 150.0 0.0) (float-vector 75.0 -150.0 0.0) (float-vector -75.0 -150.0 0.0)))
(instance face :init :vertices (list (float-vector 75.0 150.0 40.0) (float-vector 75.0 150.0 0.0) (float-vector -75.0 150.0 0.0) (float-vector -75.0 150.0 40.0)))
(instance face :init :vertices (list (float-vector 75.0 -150.0 40.0) (float-vector 75.0 -150.0 0.0) (float-vector 75.0 150.0 0.0) (float-vector 75.0 150.0 40.0)))
(instance face :init :vertices (list (float-vector -75.0 -150.0 40.0) (float-vector -75.0 -150.0 0.0) (float-vector 75.0 -150.0 0.0) (float-vector 75.0 -150.0 40.0)))
(instance face :init :vertices (list (float-vector -75.0 150.0 40.0) (float-vector -75.0 150.0 0.0) (float-vector -75.0 -150.0 0.0) (float-vector -75.0 -150.0 40.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 10.0 10.0 60.0) (float-vector -10.0 10.0 60.0) (float-vector -10.0 -10.0 60.0) (float-vector 10.0 -10.0 60.0)))
(instance face :init :vertices (list (float-vector -10.0 10.0 40.0) (float-vector 10.0 10.0 40.0) (float-vector 10.0 -10.0 40.0) (float-vector -10.0 -10.0 40.0)))
(instance face :init :vertices (list (float-vector 10.0 10.0 60.0) (float-vector 10.0 10.0 40.0) (float-vector -10.0 10.0 40.0) (float-vector -10.0 10.0 60.0)))
(instance face :init :vertices (list (float-vector 10.0 -10.0 60.0) (float-vector 10.0 -10.0 40.0) (float-vector 10.0 10.0 40.0) (float-vector 10.0 10.0 60.0)))
(instance face :init :vertices (list (float-vector -10.0 -10.0 60.0) (float-vector -10.0 -10.0 40.0) (float-vector 10.0 -10.0 40.0) (float-vector 10.0 -10.0 60.0)))
(instance face :init :vertices (list (float-vector -10.0 10.0 60.0) (float-vector -10.0 10.0 40.0) (float-vector -10.0 -10.0 40.0) (float-vector -10.0 -10.0 60.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray40)
(send (elt bc 1) :set-color :gray20)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :box :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 :joint
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector -5.0 5.0 5.0) (float-vector -5.0 -5.0 5.0) (float-vector 5.0 -5.0 5.0)))
(instance face :init :vertices (list (float-vector -5.0 5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector -5.0 -5.0 -5.0)))
(instance face :init :vertices (list (float-vector 5.0 5.0 5.0) (float-vector 5.0 5.0 -5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 5.0 5.0)))
(instance face :init :vertices (list (float-vector 5.0 -5.0 5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 5.0 -5.0) (float-vector 5.0 5.0 5.0)))
(instance face :init :vertices (list (float-vector -5.0 -5.0 5.0) (float-vector -5.0 -5.0 -5.0) (float-vector 5.0 -5.0 -5.0) (float-vector 5.0 -5.0 5.0)))
(instance face :init :vertices (list (float-vector -5.0 5.0 5.0) (float-vector -5.0 5.0 -5.0) (float-vector -5.0 -5.0 -5.0) (float-vector -5.0 -5.0 5.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray20)
(setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :joint :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 :bar
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 8.66025 -5.0 140.0) (float-vector 10.0 0.0 140.0) (float-vector 8.66025 5.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector 5.0 -8.66025 140.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 0.0) (float-vector 8.66025 -5.0 0.0) (float-vector 5.0 -8.66025 0.0) (float-vector 0.0 -10.0 0.0) (float-vector -5.0 -8.66025 0.0) (float-vector -8.66025 -5.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -8.66025 5.0 0.0) (float-vector -5.0 8.66025 0.0) (float-vector 0.0 10.0 0.0) (float-vector 5.0 8.66025 0.0) (float-vector 8.66025 5.0 0.0)))
(instance face :init :vertices (list (float-vector 8.66025 -5.0 140.0) (float-vector 8.66025 -5.0 0.0) (float-vector 10.0 0.0 0.0) (float-vector 10.0 0.0 140.0)))
(instance face :init :vertices (list (float-vector 5.0 -8.66025 140.0) (float-vector 5.0 -8.66025 0.0) (float-vector 8.66025 -5.0 0.0) (float-vector 8.66025 -5.0 140.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 140.0) (float-vector 0.0 -10.0 0.0) (float-vector 5.0 -8.66025 0.0) (float-vector 5.0 -8.66025 140.0)))
(instance face :init :vertices (list (float-vector -5.0 -8.66025 140.0) (float-vector -5.0 -8.66025 0.0) (float-vector 0.0 -10.0 0.0) (float-vector 0.0 -10.0 140.0)))
(instance face :init :vertices (list (float-vector -8.66025 -5.0 140.0) (float-vector -8.66025 -5.0 0.0) (float-vector -5.0 -8.66025 0.0) (float-vector -5.0 -8.66025 140.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 140.0) (float-vector -10.0 0.0 0.0) (float-vector -8.66025 -5.0 0.0) (float-vector -8.66025 -5.0 140.0)))
(instance face :init :vertices (list (float-vector -8.66025 5.0 140.0) (float-vector -8.66025 5.0 0.0) (float-vector -10.0 0.0 0.0) (float-vector -10.0 0.0 140.0)))
(instance face :init :vertices (list (float-vector -5.0 8.66025 140.0) (float-vector -5.0 8.66025 0.0) (float-vector -8.66025 5.0 0.0) (float-vector -8.66025 5.0 140.0)))
(instance face :init :vertices (list (float-vector 0.0 10.0 140.0) (float-vector 0.0 10.0 0.0) (float-vector -5.0 8.66025 0.0) (float-vector -5.0 8.66025 140.0)))
(instance face :init :vertices (list (float-vector 5.0 8.66025 140.0) (float-vector 5.0 8.66025 0.0) (float-vector 0.0 10.0 0.0) (float-vector 0.0 10.0 140.0)))
(instance face :init :vertices (list (float-vector 8.66025 5.0 140.0) (float-vector 8.66025 5.0 0.0) (float-vector 5.0 8.66025 0.0) (float-vector 5.0 8.66025 140.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 140.0) (float-vector 10.0 0.0 0.0) (float-vector 8.66025 5.0 0.0) (float-vector 8.66025 5.0 140.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 8.66025 -5.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 5.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector 5.0 -8.66025 1000.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 140.0) (float-vector 8.66025 -5.0 140.0) (float-vector 5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 8.66025 5.0 140.0)))
(instance face :init :vertices (list (float-vector 8.66025 -5.0 1000.0) (float-vector 8.66025 -5.0 140.0) (float-vector 10.0 0.0 140.0) (float-vector 10.0 0.0 1000.0)))
(instance face :init :vertices (list (float-vector 5.0 -8.66025 1000.0) (float-vector 5.0 -8.66025 140.0) (float-vector 8.66025 -5.0 140.0) (float-vector 8.66025 -5.0 1000.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 1000.0) (float-vector 0.0 -10.0 140.0) (float-vector 5.0 -8.66025 140.0) (float-vector 5.0 -8.66025 1000.0)))
(instance face :init :vertices (list (float-vector -5.0 -8.66025 1000.0) (float-vector -5.0 -8.66025 140.0) (float-vector 0.0 -10.0 140.0) (float-vector 0.0 -10.0 1000.0)))
(instance face :init :vertices (list (float-vector -8.66025 -5.0 1000.0) (float-vector -8.66025 -5.0 140.0) (float-vector -5.0 -8.66025 140.0) (float-vector -5.0 -8.66025 1000.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 140.0) (float-vector -8.66025 -5.0 140.0) (float-vector -8.66025 -5.0 1000.0)))
(instance face :init :vertices (list (float-vector -8.66025 5.0 1000.0) (float-vector -8.66025 5.0 140.0) (float-vector -10.0 0.0 140.0) (float-vector -10.0 0.0 1000.0)))
(instance face :init :vertices (list (float-vector -5.0 8.66025 1000.0) (float-vector -5.0 8.66025 140.0) (float-vector -8.66025 5.0 140.0) (float-vector -8.66025 5.0 1000.0)))
(instance face :init :vertices (list (float-vector 0.0 10.0 1000.0) (float-vector 0.0 10.0 140.0) (float-vector -5.0 8.66025 140.0) (float-vector -5.0 8.66025 1000.0)))
(instance face :init :vertices (list (float-vector 5.0 8.66025 1000.0) (float-vector 5.0 8.66025 140.0) (float-vector 0.0 10.0 140.0) (float-vector 0.0 10.0 1000.0)))
(instance face :init :vertices (list (float-vector 8.66025 5.0 1000.0) (float-vector 8.66025 5.0 140.0) (float-vector 5.0 8.66025 140.0) (float-vector 5.0 8.66025 1000.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 140.0) (float-vector 8.66025 5.0 140.0) (float-vector 8.66025 5.0 1000.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 8.66025 -5.0 1180.0) (float-vector 10.0 0.0 1180.0) (float-vector 8.66025 5.0 1180.0) (float-vector 5.0 8.66025 1180.0) (float-vector 0.0 10.0 1180.0) (float-vector -5.0 8.66025 1180.0) (float-vector -8.66025 5.0 1180.0) (float-vector -10.0 0.0 1180.0) (float-vector -8.66025 -5.0 1180.0) (float-vector -5.0 -8.66025 1180.0) (float-vector 0.0 -10.0 1180.0) (float-vector 5.0 -8.66025 1180.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 8.66025 5.0 1000.0)))
(instance face :init :vertices (list (float-vector 8.66025 -5.0 1180.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 10.0 0.0 1000.0) (float-vector 10.0 0.0 1180.0)))
(instance face :init :vertices (list (float-vector 5.0 -8.66025 1180.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 8.66025 -5.0 1000.0) (float-vector 8.66025 -5.0 1180.0)))
(instance face :init :vertices (list (float-vector 0.0 -10.0 1180.0) (float-vector 0.0 -10.0 1000.0) (float-vector 5.0 -8.66025 1000.0) (float-vector 5.0 -8.66025 1180.0)))
(instance face :init :vertices (list (float-vector -5.0 -8.66025 1180.0) (float-vector -5.0 -8.66025 1000.0) (float-vector 0.0 -10.0 1000.0) (float-vector 0.0 -10.0 1180.0)))
(instance face :init :vertices (list (float-vector -8.66025 -5.0 1180.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -5.0 -8.66025 1000.0) (float-vector -5.0 -8.66025 1180.0)))
(instance face :init :vertices (list (float-vector -10.0 0.0 1180.0) (float-vector -10.0 0.0 1000.0) (float-vector -8.66025 -5.0 1000.0) (float-vector -8.66025 -5.0 1180.0)))
(instance face :init :vertices (list (float-vector -8.66025 5.0 1180.0) (float-vector -8.66025 5.0 1000.0) (float-vector -10.0 0.0 1000.0) (float-vector -10.0 0.0 1180.0)))
(instance face :init :vertices (list (float-vector -5.0 8.66025 1180.0) (float-vector -5.0 8.66025 1000.0) (float-vector -8.66025 5.0 1000.0) (float-vector -8.66025 5.0 1180.0)))
(instance face :init :vertices (list (float-vector 0.0 10.0 1180.0) (float-vector 0.0 10.0 1000.0) (float-vector -5.0 8.66025 1000.0) (float-vector -5.0 8.66025 1180.0)))
(instance face :init :vertices (list (float-vector 5.0 8.66025 1180.0) (float-vector 5.0 8.66025 1000.0) (float-vector 0.0 10.0 1000.0) (float-vector 0.0 10.0 1180.0)))
(instance face :init :vertices (list (float-vector 8.66025 5.0 1180.0) (float-vector 8.66025 5.0 1000.0) (float-vector 5.0 8.66025 1000.0) (float-vector 5.0 8.66025 1180.0)))
(instance face :init :vertices (list (float-vector 10.0 0.0 1180.0) (float-vector 10.0 0.0 1000.0) (float-vector 8.66025 5.0 1000.0) (float-vector 8.66025 5.0 1180.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :gray20)
(send (elt bc 1) :set-color :gray80)
(send (elt bc 2) :set-color :gray20)
(setq blink2 (instance bodyset-link :init (make-cascoords) :bodies bc :name :bar :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 blink2 :newcoords (make-coords :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))))
(send blink1 :assoc blink2)
(send blink1 :newcoords (make-coords :pos (float-vector 0.0 0.0 50.0) :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 :sweeper-p
(setq joint0 (instance rotational-joint :init
:parent-link blink0 :child-link blink1 :name :sweeper-p :axis :y
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :sweeper-r
(setq joint1 (instance rotational-joint :init
:parent-link blink1 :child-link blink2 :name :sweeper-r :axis :x
:min -90.0 :max 90.0 :max-joint-velocity 5 :max-joint-torque 100))
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector 0.0 0.0 1000.0) :rot #2f((0.707107 -0.707107 0.0) (0.707107 0.707107 0.0) (0.0 0.0 1.0)) :name ":rarm"))
(send blink2 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 0.0 0.0 1150.0) :rot #2f((0.707107 0.707107 0.0) (-0.707107 0.707107 0.0) (0.0 0.0 1.0)) :name ":larm"))
(send blink2 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector 0.0 0.0 700.0) :rot #2f((1.0 0.0 0.0) (0.0 -1.0 -1.224647e-16) (0.0 1.224647e-16 -1.0)) :name ":side-rarm"))
(send blink2 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector 0.0 0.0 1150.0) :rot #2f((-1.0 -1.224647e-16 0.0) (1.224647e-16 -1.0 0.0) (0.0 0.0 1.0)) :name ":side-larm"))
(send blink2 :assoc handle3)
;; init-ending
(setq links (list blink0 blink1 blink2))
(setq joint-list (list joint0 joint1))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:sweeper-p (&rest args) (forward-message-to joint0 args))
(:sweeper-r (&rest args) (forward-message-to joint1 args))
(:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2 handle3) args))
(:handle-rarm (&rest args) (forward-message-to handle0 args))
(:handle-larm (&rest args) (forward-message-to handle1 args))
(:handle-side-rarm (&rest args) (forward-message-to handle2 args))
(:handle-side-larm (&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 room610-sweeper (&rest args) (instance* room610-sweeper-object :init args))
;; (format *error-output* "(instance room610-sweeper-object :init) for generating model~%")
|
