git commit -m "first commit for v2"

Devices/Cores/models/include/models/BaseAbsoluteEncoder.h

@@ -0,0 +1,43 @@
+#ifndef __ABSOLUTE_ENCODER_H_INCLUDED
+#define __ABSOLUTE_ENCODER_H_INCLUDED
+
+#include <ros/ros.h>
+
+namespace models
+{ 
+class BaseAbsoluteEncoder
+{
+public:
+
+  /**
+   * @brief  Constructs 
+   * @param name The name to give this instance of the model base
+  */
+  virtual void initialize(ros::NodeHandle & nh, const std::string &name) = 0;
+
+  /**
+   * @brief Get the angle of rotation of an axis() rad
+  */
+  virtual double Position() = 0;
+
+  /**
+   * @brief Get the velocity rotation of an axis() rad
+   */
+  virtual double Velocity() = 0;
+
+  /**
+   * @brief Decontructor
+  */
+  virtual ~BaseAbsoluteEncoder() {}
+  
+protected:
+  /**
+   * @brief Contructor
+  */
+  BaseAbsoluteEncoder() {}
+
+}; // BaseAbsoluteEncoder
+
+} // namespace models
+
+#endif //__ABSOLUTE_ENCODER_H_INCLUDED

Devices/Cores/models/include/models/BaseSensorGroups.h

@@ -0,0 +1,48 @@
+#ifndef __BASE_SENSOR_GROUPS_H_INCLUDED_
+#define __BASE_SENSOR_GROUPS_H_INCLUDED_
+
+namespace models
+{
+  enum SensorState
+  {
+    Normal,
+    Warn,
+    Error,
+    NotActive,
+  };
+
+class BaseSensorGroups 
+{
+public:
+  /**
+   * @brief  Constructs 
+   * @param name The name to give this instance of the model base
+  */
+  virtual void initialize(ros::NodeHandle & nh, const std::string &name) = 0;
+
+  /**
+   * @brief Get state from sensors
+  */
+  virtual models::SensorState State() = 0;
+
+  /**
+   * @brief Get bit logic get from sensor
+  */
+  virtual bool Get() = 0;
+
+  /**
+   * @brief Decontructor
+  */
+  virtual ~BaseSensorGroups() {}
+  
+protected:
+  /**
+   * @brief Contructor
+  */
+  BaseSensorGroups() {}
+
+}; // class BaseSensorGroups 
+
+} // namespace models
+
+#endif

Devices/Cores/models/include/models/BaseSteerDrive.h

@@ -0,0 +1,105 @@
+#ifndef __STEER_DRIVE_H_INCLUDED
+#define __STEER_DRIVE_H_INCLUDED
+
+#include <ros/ros.h>
+
+namespace models
+{ 
+class BaseSteerDrive
+{
+public:
+
+  /**
+   * @brief  Constructs 
+   * @param name The name to give this instance of the model base
+  */
+  virtual void initialize(ros::NodeHandle & nh, const std::string &name) = 0;
+
+  /**
+   * @brief  Constructs 
+   * @param name Check model is deady
+   * @return true, if model is ready, false otherwise
+  */
+  virtual bool Ready() {return true;}
+
+  
+  /**
+   * @brief Get the velocity limit on axis(index).
+   * @return Velocity limit specified in SDF
+   */ 
+  virtual double GetVelocityLimit(unsigned int _index) = 0;
+
+  /**
+   * @brief Set the velocity limit on a joint axis.
+   * @param[in] _velocity Velocity limit for the axis.
+   */ 
+  virtual void SetVelocityLimit(double _velocity) = 0;
+
+  /**
+   * @brief Get the rotation rate of an axis(index)
+   * @return The rotaional velocity of the joint axis.
+   */ 
+  virtual double GetVelocity() = 0;
+
+  /**
+   * @brief Set the velocity of an axis(index).
+   * In ODE and Bullet, the SetVelocityMaximal function is used to
+   * set the velocity of the child link relative to the parent.
+   * In Simbody and DART, this function updates the velocity state,
+   * which has a recursive effect on the rest of the chain.
+   * @param[in] _vel Velocity.
+  */
+  virtual void SetVelocity(double _vel) = 0;
+
+  /**
+   * @brief Get the position of an axis according to its index.
+   *
+   * For rotational axes, the value is in radians. For prismatic axes,
+   * it is in meters.
+   *
+   * For static models, it returns the static joint position.
+   *
+   * It returns ignition::math::NAN_D in case the position can't be
+   * obtained. For instance, if the index is invalid, if the joint is
+   * fixed, etc.
+   *
+   * Subclasses can't override this method. See PositionImpl instead.
+   *
+   * @return Current position of the axis.
+   * @sa PositionImpl
+   */ 
+  virtual double Position() = 0;
+
+  /**
+   * @brief The child links of this joint are updated based on desired
+   * position.  And all the links connected to the child link of this joint
+   * except through the parent link of this joint moves with the child
+   * link.
+   * @param[in] _position Position to set the joint to.
+   * unspecified, pure kinematic teleportation.
+   * link with respect to the world frame will remain the same after
+   * setting the position. By default this is false, which means there are
+   * no guarantees about what the child link's world velocity will be after
+   * the position is changed (the behavior is determined by the underlying
+   * physics engine).
+   *
+   * @note{Only ODE and Bullet support _preserveWorldVelocity being true.}
+   */ 
+  virtual void SetPosition(const double _position) = 0;
+
+  /**
+   * @brief Decontructor
+  */
+  virtual ~BaseSteerDrive() {}
+  
+protected:
+  /**
+   * @brief Contructor
+  */
+  BaseSteerDrive() {}
+
+}; // class BaseSteerDrive
+
+} // namespace models
+
+#endif // __STEER_DRIVE_H_INCLUDED

Devices/Cores/models/include/models/ModelsTypes.h

@@ -0,0 +1,53 @@
+#ifndef __MODELS_TYPES_H_INCLUDED
+#define __MODELS_TYPES_H_INCLUDED
+
+#include <vector>
+#include <boost/shared_ptr.hpp>
+/**
+ * @brief models forward declarations and type defines
+*/
+namespace models
+{
+  class BaseSteerDrive;
+  class BaseAbsoluteEncoder;
+  class BaseSensorGroups;
+
+  /**
+   * @def BaseSteerDrivePtr
+   * @brief Boost shared pointer to a BaseSteerDrive object
+  */
+  typedef boost::shared_ptr<BaseSteerDrive> BaseSteerDrivePtr;
+
+  /**
+   * @def BaseAbsoluteEncoderPtr
+   * @brief Boost shared pointer to a BaseAbsoluteEncoder object
+  */
+  typedef boost::shared_ptr<BaseAbsoluteEncoder> BaseAbsoluteEncoderPtr;
+
+  /**
+   * @def BaseSensorGroupsPtr
+   * @brief Boost shared pointer to a BaseSensorGroups object
+  */
+  typedef boost::shared_ptr<BaseSensorGroups> BaseSensorGroupsPtr;
+
+  /**
+   * @def BaseSteerDrive_V
+   * @brief Vector of BaseSteerDrivePtr
+  */
+  typedef std::vector<BaseSteerDrivePtr> BaseSteerDrive_V;
+
+  /**
+   * @def BaseAbsoluteEncoder_V
+   * @brief Vector of BaseAbsoluteEncoderPtr
+  */
+  typedef std::vector<BaseAbsoluteEncoderPtr> BaseAbsoluteEncoder_V;
+
+  /**
+   * @def BaseSensorGroups_V
+   * @brief Vector of BaseSensorGroupsPtr
+  */
+  typedef std::vector<BaseSensorGroupsPtr> BaseSensorGroups_V;
+
+} // namespace models
+
+#endif // MODELS_TYPES_H_INCLUDED