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88 lines
3.2 KiB
88 lines
3.2 KiB
/***************************************************************************** |
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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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