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89 lines
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89 lines
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15 years ago
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/*****************************************************************************
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* Copyright (c) 2008, University of Florida
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* All rights reserved.
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*
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* This file is part of OpenJAUS. OpenJAUS is distributed under the BSD
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* license. See the LICENSE file for details.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the University of Florida nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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****************************************************************************/
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#ifndef VEHICLE_SIM_H
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#define VEHICLE_SIM_H
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#ifndef FALSE
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#define FALSE 0
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#endif
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#ifndef TRUE
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#define TRUE 1
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#endif
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#define VEHICLE_SIM_LOAD_CONFIGURATION_ERROR -1
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#define VEHICLE_SIM_MALLOC_ERROR -2
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#define VEHICLE_SIM_THREAD_CREATE_ERROR -4
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#define VEHICLE_SIM_THREAD_TIMEOUT_SEC 1.0
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#define VEHICLE_SIM_UNDEFINED_STATE -1
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#define VEHICLE_SIM_UNKNOWN_STATE -1
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#define VEHICLE_SIM_INVALID_STATE -1
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#define VEHICLE_SIM_MANUAL_STATE 0
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#define VEHICLE_SIM_HOMING_STATE 1
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#define VEHICLE_SIM_READY_STATE 2
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#define VEHICLE_SIM_SHUTDOWN_STATE 3
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#define VEHICLE_SIM_RUN 0
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#define VEHICLE_SIM_PAUSE 1
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#define VEHICLE_SIM_AUTO_STATE 1
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#include "utm/pointLla.h"
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#include "utm/pointUtm.h"
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#include "utm/utmLib.h"
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int vehicleSimStartup(void);
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int vehicleSimShutdown(void);
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double vehicleSimGetUpdateRate(void);
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int vehicleSimGetState(void);
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PointLla vehicleSimGetPositionLla(void);
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double vehicleSimGetX(void);
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double vehicleSimGetY(void);
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double vehicleSimGetH(void);
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double vehicleSimGetSpeed(void);
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double vehicleSimGetRotateEffort(void);
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int vehicleSimGetRunPause(void);
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void vehicleSimToggleRunPause(void);
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void vehicleSimSetCommand(double, double, double);
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double vehicleSimGetLinearEffortX(void);
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double vehicleSimGetResistiveEffortX(void);
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double vehicleSimGetRotationalEffort(void);
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#endif // VEHICLE_SIM_H
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