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;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass trashbox-object
:super cascaded-link
:slots (sensors
handle0 handle1
))
(defmethod trashbox-object
(:init
(&rest args &key (name "trashbox") (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 :trashbox-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 100.0 10.0) (float-vector 150.0 150.0 10.0) (float-vector -150.0 150.0 10.0) (float-vector -200.0 100.0 10.0) (float-vector -200.0 -100.0 10.0) (float-vector -150.0 -150.0 10.0) (float-vector 150.0 -150.0 10.0) (float-vector 200.0 -100.0 10.0)))
(instance face :init :vertices (list (float-vector 150.0 150.0 0.0) (float-vector 200.0 100.0 0.0) (float-vector 200.0 -100.0 0.0) (float-vector 150.0 -150.0 0.0) (float-vector -150.0 -150.0 0.0) (float-vector -200.0 -100.0 0.0) (float-vector -200.0 100.0 0.0) (float-vector -150.0 150.0 0.0)))
(instance face :init :vertices (list (float-vector 200.0 100.0 10.0) (float-vector 200.0 100.0 0.0) (float-vector 150.0 150.0 0.0) (float-vector 150.0 150.0 10.0)))
(instance face :init :vertices (list (float-vector 200.0 -100.0 10.0) (float-vector 200.0 -100.0 0.0) (float-vector 200.0 100.0 0.0) (float-vector 200.0 100.0 10.0)))
(instance face :init :vertices (list (float-vector 150.0 -150.0 10.0) (float-vector 150.0 -150.0 0.0) (float-vector 200.0 -100.0 0.0) (float-vector 200.0 -100.0 10.0)))
(instance face :init :vertices (list (float-vector -150.0 -150.0 10.0) (float-vector -150.0 -150.0 0.0) (float-vector 150.0 -150.0 0.0) (float-vector 150.0 -150.0 10.0)))
(instance face :init :vertices (list (float-vector -200.0 -100.0 10.0) (float-vector -200.0 -100.0 0.0) (float-vector -150.0 -150.0 0.0) (float-vector -150.0 -150.0 10.0)))
(instance face :init :vertices (list (float-vector -200.0 100.0 10.0) (float-vector -200.0 100.0 0.0) (float-vector -200.0 -100.0 0.0) (float-vector -200.0 -100.0 10.0)))
(instance face :init :vertices (list (float-vector -150.0 150.0 10.0) (float-vector -150.0 150.0 0.0) (float-vector -200.0 100.0 0.0) (float-vector -200.0 100.0 10.0)))
(instance face :init :vertices (list (float-vector 150.0 150.0 10.0) (float-vector 150.0 150.0 0.0) (float-vector -150.0 150.0 0.0) (float-vector -150.0 150.0 10.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 200.0 100.0 500.0) (float-vector 189.99 99.99 500.0) (float-vector 190.0 -100.0 500.0) (float-vector 150.0 -140.0 500.0) (float-vector -150.0 -140.0 500.0) (float-vector -190.0 -100.0 500.0) (float-vector -190.0 100.0 500.0) (float-vector -150.0 140.0 500.0) (float-vector 150.0 140.0 500.0) (float-vector 190.0 100.0 500.0) (float-vector 199.99 100.01 500.0) (float-vector 150.0 150.0 500.0) (float-vector -150.0 150.0 500.0) (float-vector -200.0 100.0 500.0) (float-vector -200.0 -100.0 500.0) (float-vector -150.0 -150.0 500.0) (float-vector 150.0 -150.0 500.0) (float-vector 200.0 -100.0 500.0)))
(instance face :init :vertices (list (float-vector 189.99 99.99 0.0) (float-vector 200.0 100.0 0.0) (float-vector 200.0 -100.0 0.0) (float-vector 150.0 -150.0 0.0) (float-vector -150.0 -150.0 0.0) (float-vector -200.0 -100.0 0.0) (float-vector -200.0 100.0 0.0) (float-vector -150.0 150.0 0.0) (float-vector 150.0 150.0 0.0) (float-vector 199.99 100.01 0.0) (float-vector 190.0 100.0 0.0) (float-vector 150.0 140.0 0.0) (float-vector -150.0 140.0 0.0) (float-vector -190.0 100.0 0.0) (float-vector -190.0 -100.0 0.0) (float-vector -150.0 -140.0 0.0) (float-vector 150.0 -140.0 0.0) (float-vector 190.0 -100.0 0.0)))
(instance face :init :vertices (list (float-vector 200.0 100.0 500.0) (float-vector 200.0 100.0 0.0) (float-vector 189.99 99.99 0.0) (float-vector 189.99 99.99 500.0)))
(instance face :init :vertices (list (float-vector 200.0 -100.0 500.0) (float-vector 200.0 -100.0 0.0) (float-vector 200.0 100.0 0.0) (float-vector 200.0 100.0 500.0)))
(instance face :init :vertices (list (float-vector 150.0 -150.0 500.0) (float-vector 150.0 -150.0 0.0) (float-vector 200.0 -100.0 0.0) (float-vector 200.0 -100.0 500.0)))
(instance face :init :vertices (list (float-vector -150.0 -150.0 500.0) (float-vector -150.0 -150.0 0.0) (float-vector 150.0 -150.0 0.0) (float-vector 150.0 -150.0 500.0)))
(instance face :init :vertices (list (float-vector -200.0 -100.0 500.0) (float-vector -200.0 -100.0 0.0) (float-vector -150.0 -150.0 0.0) (float-vector -150.0 -150.0 500.0)))
(instance face :init :vertices (list (float-vector -200.0 100.0 500.0) (float-vector -200.0 100.0 0.0) (float-vector -200.0 -100.0 0.0) (float-vector -200.0 -100.0 500.0)))
(instance face :init :vertices (list (float-vector -150.0 150.0 500.0) (float-vector -150.0 150.0 0.0) (float-vector -200.0 100.0 0.0) (float-vector -200.0 100.0 500.0)))
(instance face :init :vertices (list (float-vector 150.0 150.0 500.0) (float-vector 150.0 150.0 0.0) (float-vector -150.0 150.0 0.0) (float-vector -150.0 150.0 500.0)))
(instance face :init :vertices (list (float-vector 199.99 100.01 500.0) (float-vector 199.99 100.01 0.0) (float-vector 150.0 150.0 0.0) (float-vector 150.0 150.0 500.0)))
(instance face :init :vertices (list (float-vector 190.0 100.0 500.0) (float-vector 190.0 100.0 0.0) (float-vector 199.99 100.01 0.0) (float-vector 199.99 100.01 500.0)))
(instance face :init :vertices (list (float-vector 150.0 140.0 500.0) (float-vector 150.0 140.0 0.0) (float-vector 190.0 100.0 0.0) (float-vector 190.0 100.0 500.0)))
(instance face :init :vertices (list (float-vector -150.0 140.0 500.0) (float-vector -150.0 140.0 0.0) (float-vector 150.0 140.0 0.0) (float-vector 150.0 140.0 500.0)))
(instance face :init :vertices (list (float-vector -190.0 100.0 500.0) (float-vector -190.0 100.0 0.0) (float-vector -150.0 140.0 0.0) (float-vector -150.0 140.0 500.0)))
(instance face :init :vertices (list (float-vector -190.0 -100.0 500.0) (float-vector -190.0 -100.0 0.0) (float-vector -190.0 100.0 0.0) (float-vector -190.0 100.0 500.0)))
(instance face :init :vertices (list (float-vector -150.0 -140.0 500.0) (float-vector -150.0 -140.0 0.0) (float-vector -190.0 -100.0 0.0) (float-vector -190.0 -100.0 500.0)))
(instance face :init :vertices (list (float-vector 150.0 -140.0 500.0) (float-vector 150.0 -140.0 0.0) (float-vector -150.0 -140.0 0.0) (float-vector -150.0 -140.0 500.0)))
(instance face :init :vertices (list (float-vector 190.0 -100.0 500.0) (float-vector 190.0 -100.0 0.0) (float-vector 150.0 -140.0 0.0) (float-vector 150.0 -140.0 500.0)))
(instance face :init :vertices (list (float-vector 189.99 99.99 500.0) (float-vector 189.99 99.99 0.0) (float-vector 190.0 -100.0 0.0) (float-vector 190.0 -100.0 500.0)))
))
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector 210.0 100.0 510.0) (float-vector 189.99 99.99 510.0) (float-vector 190.0 -100.0 510.0) (float-vector 150.0 -140.0 510.0) (float-vector -150.0 -140.0 510.0) (float-vector -190.0 -100.0 510.0) (float-vector -190.0 100.0 510.0) (float-vector -150.0 140.0 510.0) (float-vector 150.0 140.0 510.0) (float-vector 190.0 100.0 510.0) (float-vector 209.99 100.01 510.0) (float-vector 150.0 160.0 510.0) (float-vector -150.0 160.0 510.0) (float-vector -210.0 100.0 510.0) (float-vector -210.0 -100.0 510.0) (float-vector -150.0 -160.0 510.0) (float-vector 150.0 -160.0 510.0) (float-vector 210.0 -100.0 510.0)))
(instance face :init :vertices (list (float-vector 189.99 99.99 500.0) (float-vector 210.0 100.0 500.0) (float-vector 210.0 -100.0 500.0) (float-vector 150.0 -160.0 500.0) (float-vector -150.0 -160.0 500.0) (float-vector -210.0 -100.0 500.0) (float-vector -210.0 100.0 500.0) (float-vector -150.0 160.0 500.0) (float-vector 150.0 160.0 500.0) (float-vector 209.99 100.01 500.0) (float-vector 190.0 100.0 500.0) (float-vector 150.0 140.0 500.0) (float-vector -150.0 140.0 500.0) (float-vector -190.0 100.0 500.0) (float-vector -190.0 -100.0 500.0) (float-vector -150.0 -140.0 500.0) (float-vector 150.0 -140.0 500.0) (float-vector 190.0 -100.0 500.0)))
(instance face :init :vertices (list (float-vector 210.0 100.0 510.0) (float-vector 210.0 100.0 500.0) (float-vector 189.99 99.99 500.0) (float-vector 189.99 99.99 510.0)))
(instance face :init :vertices (list (float-vector 210.0 -100.0 510.0) (float-vector 210.0 -100.0 500.0) (float-vector 210.0 100.0 500.0) (float-vector 210.0 100.0 510.0)))
(instance face :init :vertices (list (float-vector 150.0 -160.0 510.0) (float-vector 150.0 -160.0 500.0) (float-vector 210.0 -100.0 500.0) (float-vector 210.0 -100.0 510.0)))
(instance face :init :vertices (list (float-vector -150.0 -160.0 510.0) (float-vector -150.0 -160.0 500.0) (float-vector 150.0 -160.0 500.0) (float-vector 150.0 -160.0 510.0)))
(instance face :init :vertices (list (float-vector -210.0 -100.0 510.0) (float-vector -210.0 -100.0 500.0) (float-vector -150.0 -160.0 500.0) (float-vector -150.0 -160.0 510.0)))
(instance face :init :vertices (list (float-vector -210.0 100.0 510.0) (float-vector -210.0 100.0 500.0) (float-vector -210.0 -100.0 500.0) (float-vector -210.0 -100.0 510.0)))
(instance face :init :vertices (list (float-vector -150.0 160.0 510.0) (float-vector -150.0 160.0 500.0) (float-vector -210.0 100.0 500.0) (float-vector -210.0 100.0 510.0)))
(instance face :init :vertices (list (float-vector 150.0 160.0 510.0) (float-vector 150.0 160.0 500.0) (float-vector -150.0 160.0 500.0) (float-vector -150.0 160.0 510.0)))
(instance face :init :vertices (list (float-vector 209.99 100.01 510.0) (float-vector 209.99 100.01 500.0) (float-vector 150.0 160.0 500.0) (float-vector 150.0 160.0 510.0)))
(instance face :init :vertices (list (float-vector 190.0 100.0 510.0) (float-vector 190.0 100.0 500.0) (float-vector 209.99 100.01 500.0) (float-vector 209.99 100.01 510.0)))
(instance face :init :vertices (list (float-vector 150.0 140.0 510.0) (float-vector 150.0 140.0 500.0) (float-vector 190.0 100.0 500.0) (float-vector 190.0 100.0 510.0)))
(instance face :init :vertices (list (float-vector -150.0 140.0 510.0) (float-vector -150.0 140.0 500.0) (float-vector 150.0 140.0 500.0) (float-vector 150.0 140.0 510.0)))
(instance face :init :vertices (list (float-vector -190.0 100.0 510.0) (float-vector -190.0 100.0 500.0) (float-vector -150.0 140.0 500.0) (float-vector -150.0 140.0 510.0)))
(instance face :init :vertices (list (float-vector -190.0 -100.0 510.0) (float-vector -190.0 -100.0 500.0) (float-vector -190.0 100.0 500.0) (float-vector -190.0 100.0 510.0)))
(instance face :init :vertices (list (float-vector -150.0 -140.0 510.0) (float-vector -150.0 -140.0 500.0) (float-vector -190.0 -100.0 500.0) (float-vector -190.0 -100.0 510.0)))
(instance face :init :vertices (list (float-vector 150.0 -140.0 510.0) (float-vector 150.0 -140.0 500.0) (float-vector -150.0 -140.0 500.0) (float-vector -150.0 -140.0 510.0)))
(instance face :init :vertices (list (float-vector 190.0 -100.0 510.0) (float-vector 190.0 -100.0 500.0) (float-vector 150.0 -140.0 500.0) (float-vector 150.0 -140.0 510.0)))
(instance face :init :vertices (list (float-vector 189.99 99.99 510.0) (float-vector 189.99 99.99 500.0) (float-vector 190.0 -100.0 500.0) (float-vector 190.0 -100.0 510.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color :blue)
(send (elt bc 1) :set-color :blue)
(send (elt bc 2) :set-color :blue)
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :trashbox-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 -200.0 5.684342e-14 500.0) :rot #2f((-0.000204 1.0 0.000204) (1.110223e-16 -0.000204 1.0) (1.0 0.000204 4.148277e-08)) :name "rear"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector 200.0 -5.684342e-14 500.0) :rot #2f((-0.000204 -1.0 0.000204) (0.0 -0.000204 -1.0) (1.0 -0.000204 4.148277e-08)) :name "front"))
(send blink0 :assoc handle1)
;; 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-rear (&rest args) (forward-message-to handle0 args))
(:handle-front (&rest args) (forward-message-to handle1 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun trashbox (&rest args) (instance* trashbox-object :init args))
;; (format *error-output* "(instance trashbox-object :init) for generating model~%")
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