[Euslisp-commit] SF.net SVN: euslisp:[654] trunk/EusLisp/models/hitachi-18l-oven-object.l

[<ky...@us...>]

Revision: 654
          http://sourceforge.net/p/euslisp/code/654
Author:   kyouhei
Date:     2013-10-11 09:14:17 +0000 (Fri, 11 Oct 2013)
Log Message:
-----------
add hitachi-18l-oven

Added Paths:
-----------
    trunk/EusLisp/models/hitachi-18l-oven-object.l

Added: trunk/EusLisp/models/hitachi-18l-oven-object.l
===================================================================
--- trunk/EusLisp/models/hitachi-18l-oven-object.l	                        (rev 0)
+++ trunk/EusLisp/models/hitachi-18l-oven-object.l	2013-10-11 09:14:17 UTC (rev 654)
@@ -0,0 +1,176 @@
+;;
+;; DO NOT EDIT THIS FILE
+;; this file is automatically generated from euslisp+euslib version 
+;;
+;;
+(defclass hitachi-18l-oven-object
+  :super cascaded-link
+  :slots (sensors
+         handle0
+         joint0 ))
+(defmethod hitachi-18l-oven-object
+  (:init
+   (&rest args &key (name "hitachi-18l-oven") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
+   (let (c bc
+         blink0 blink1
+                 )
+     (send-super* :init :name name args)
+
+     ;; definition of link
+
+     ;; definition of :root
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 170.0 285.0 270.0) (float-vector -170.0 285.0 270.0) (float-vector -170.0 185.0 270.0) (float-vector 170.0 185.0 270.0)))
+         (instance face :init :vertices (list (float-vector -170.0 285.0 0.0) (float-vector 170.0 285.0 0.0) (float-vector 170.0 185.0 0.0) (float-vector -170.0 185.0 0.0)))
+         (instance face :init :vertices (list (float-vector 170.0 285.0 270.0) (float-vector 170.0 285.0 0.0) (float-vector -170.0 285.0 0.0) (float-vector -170.0 285.0 270.0)))
+         (instance face :init :vertices (list (float-vector 170.0 185.0 270.0) (float-vector 170.0 185.0 0.0) (float-vector 170.0 285.0 0.0) (float-vector 170.0 285.0 270.0)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 270.0) (float-vector -170.0 185.0 0.0) (float-vector 170.0 185.0 0.0) (float-vector 170.0 185.0 270.0)))
+         (instance face :init :vertices (list (float-vector -170.0 285.0 270.0) (float-vector -170.0 285.0 0.0) (float-vector -170.0 185.0 0.0) (float-vector -170.0 185.0 270.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 170.0 285.0 0.0) (float-vector -170.0 285.0 0.0) (float-vector -170.0 -185.0 0.0) (float-vector 170.0 -185.0 0.0)))
+         (instance face :init :vertices (list (float-vector -170.0 285.0 -35.0) (float-vector 170.0 285.0 -35.0) (float-vector 170.0 -185.0 -35.0) (float-vector -170.0 -185.0 -35.0)))
+         (instance face :init :vertices (list (float-vector 170.0 285.0 0.0) (float-vector 170.0 285.0 -35.0) (float-vector -170.0 285.0 -35.0) (float-vector -170.0 285.0 0.0)))
+         (instance face :init :vertices (list (float-vector 170.0 -185.0 0.0) (float-vector 170.0 -185.0 -35.0) (float-vector 170.0 285.0 -35.0) (float-vector 170.0 285.0 0.0)))
+         (instance face :init :vertices (list (float-vector -170.0 -185.0 0.0) (float-vector -170.0 -185.0 -35.0) (float-vector 170.0 -185.0 -35.0) (float-vector 170.0 -185.0 0.0)))
+         (instance face :init :vertices (list (float-vector -170.0 285.0 0.0) (float-vector -170.0 285.0 -35.0) (float-vector -170.0 -185.0 -35.0) (float-vector -170.0 -185.0 0.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 140.0 185.0 270.0) (float-vector -170.0 185.0 270.0) (float-vector -170.0 -185.0 270.0) (float-vector 140.0 -185.0 270.0)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 235.0) (float-vector 140.0 185.0 235.0) (float-vector 140.0 -185.0 235.0) (float-vector -170.0 -185.0 235.0)))
+         (instance face :init :vertices (list (float-vector 140.0 185.0 270.0) (float-vector 140.0 185.0 235.0) (float-vector -170.0 185.0 235.0) (float-vector -170.0 185.0 270.0)))
+         (instance face :init :vertices (list (float-vector 140.0 -185.0 270.0) (float-vector 140.0 -185.0 235.0) (float-vector 140.0 185.0 235.0) (float-vector 140.0 185.0 270.0)))
+         (instance face :init :vertices (list (float-vector -170.0 -185.0 270.0) (float-vector -170.0 -185.0 235.0) (float-vector 140.0 -185.0 235.0) (float-vector 140.0 -185.0 270.0)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 270.0) (float-vector -170.0 185.0 235.0) (float-vector -170.0 -185.0 235.0) (float-vector -170.0 -185.0 270.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 140.0 185.0 50.0) (float-vector -170.0 185.0 50.0) (float-vector -170.0 -185.0 50.0) (float-vector 140.0 -185.0 50.0)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 0.0) (float-vector 140.0 185.0 0.0) (float-vector 140.0 -185.0 0.0) (float-vector -170.0 -185.0 0.0)))
+         (instance face :init :vertices (list (float-vector 140.0 185.0 50.0) (float-vector 140.0 185.0 0.0) (float-vector -170.0 185.0 0.0) (float-vector -170.0 185.0 50.0)))
+         (instance face :init :vertices (list (float-vector 140.0 -185.0 50.0) (float-vector 140.0 -185.0 0.0) (float-vector 140.0 185.0 0.0) (float-vector 140.0 185.0 50.0)))
+         (instance face :init :vertices (list (float-vector -170.0 -185.0 50.0) (float-vector -170.0 -185.0 0.0) (float-vector 140.0 -185.0 0.0) (float-vector 140.0 -185.0 50.0)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 50.0) (float-vector -170.0 185.0 0.0) (float-vector -170.0 -185.0 0.0) (float-vector -170.0 -185.0 50.0)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -130.0 145.0 235.5) (float-vector -170.0 145.0 235.5) (float-vector -170.0 -145.0 235.5) (float-vector -130.0 -145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 145.0 50.5) (float-vector -130.0 145.0 50.5) (float-vector -130.0 -145.0 50.5) (float-vector -170.0 -145.0 50.5)))
+         (instance face :init :vertices (list (float-vector -130.0 145.0 235.5) (float-vector -130.0 145.0 50.5) (float-vector -170.0 145.0 50.5) (float-vector -170.0 145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -130.0 -145.0 235.5) (float-vector -130.0 -145.0 50.5) (float-vector -130.0 145.0 50.5) (float-vector -130.0 145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 -145.0 235.5) (float-vector -170.0 -145.0 50.5) (float-vector -130.0 -145.0 50.5) (float-vector -130.0 -145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 145.0 235.5) (float-vector -170.0 145.0 50.5) (float-vector -170.0 -145.0 50.5) (float-vector -170.0 -145.0 235.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 140.0 185.0 235.5) (float-vector -170.0 185.0 235.5) (float-vector -170.0 145.0 235.5) (float-vector 140.0 145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 50.5) (float-vector 140.0 185.0 50.5) (float-vector 140.0 145.0 50.5) (float-vector -170.0 145.0 50.5)))
+         (instance face :init :vertices (list (float-vector 140.0 185.0 235.5) (float-vector 140.0 185.0 50.5) (float-vector -170.0 185.0 50.5) (float-vector -170.0 185.0 235.5)))
+         (instance face :init :vertices (list (float-vector 140.0 145.0 235.5) (float-vector 140.0 145.0 50.5) (float-vector 140.0 185.0 50.5) (float-vector 140.0 185.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 145.0 235.5) (float-vector -170.0 145.0 50.5) (float-vector 140.0 145.0 50.5) (float-vector 140.0 145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 185.0 235.5) (float-vector -170.0 185.0 50.5) (float-vector -170.0 145.0 50.5) (float-vector -170.0 145.0 235.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 140.0 -145.0 235.5) (float-vector -170.0 -145.0 235.5) (float-vector -170.0 -185.0 235.5) (float-vector 140.0 -185.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 -145.0 50.5) (float-vector 140.0 -145.0 50.5) (float-vector 140.0 -185.0 50.5) (float-vector -170.0 -185.0 50.5)))
+         (instance face :init :vertices (list (float-vector 140.0 -145.0 235.5) (float-vector 140.0 -145.0 50.5) (float-vector -170.0 -145.0 50.5) (float-vector -170.0 -145.0 235.5)))
+         (instance face :init :vertices (list (float-vector 140.0 -185.0 235.5) (float-vector 140.0 -185.0 50.5) (float-vector 140.0 -145.0 50.5) (float-vector 140.0 -145.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 -185.0 235.5) (float-vector -170.0 -185.0 50.5) (float-vector 140.0 -185.0 50.5) (float-vector 140.0 -185.0 235.5)))
+         (instance face :init :vertices (list (float-vector -170.0 -145.0 235.5) (float-vector -170.0 -145.0 50.5) (float-vector -170.0 -185.0 50.5) (float-vector -170.0 -185.0 235.5)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :gray60)
+     (send (elt bc 1) :set-color :gray10)
+     (send (elt bc 2) :set-color :gray60)
+     (send (elt bc 3) :set-color :gray60)
+     (send (elt bc 4) :set-color :gray60)
+     (send (elt bc 5) :set-color :gray60)
+     (send (elt bc 6) :set-color :gray60)
+     (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :root :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 :hitachi-18l-oven-bodyset2
+     (setq bc (list
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector -7.5 355.0 -7.5) (float-vector -7.5 -15.0 -7.5) (float-vector -7.5 -15.0 262.5) (float-vector -7.5 355.0 262.5))
+                              :holes (list
+         (instance hole :init :vertices (list (float-vector -7.5 295.0 52.5) (float-vector -7.5 295.0 202.5) (float-vector -7.5 45.0 202.5) (float-vector -7.5 45.0 52.5)))
+))
+         (instance face :init :vertices (list (float-vector 22.5 -15.0 -7.5) (float-vector 22.5 -15.0 262.5) (float-vector -7.5 -15.0 262.5) (float-vector -7.5 -15.0 -7.5)))
+         (instance face :init :vertices (list (float-vector 22.5 355.0 -7.5) (float-vector 22.5 355.0 262.5) (float-vector 22.5 -15.0 262.5) (float-vector 22.5 -15.0 -7.5))
+                              :holes (list
+         (instance hole :init :vertices (list (float-vector 22.5 45.0 52.5) (float-vector 22.5 45.0 202.5) (float-vector 22.5 295.0 202.5) (float-vector 22.5 295.0 52.5)))
+))
+         (instance face :init :vertices (list (float-vector -7.5 355.0 262.5) (float-vector -7.5 -15.0 262.5) (float-vector 22.5 -15.0 262.5) (float-vector 22.5 355.0 262.5)))
+         (instance face :init :vertices (list (float-vector 22.5 355.0 -7.5) (float-vector 22.5 -15.0 -7.5) (float-vector -7.5 -15.0 -7.5) (float-vector -7.5 355.0 -7.5)))
+         (instance face :init :vertices (list (float-vector -7.5 355.0 -7.5) (float-vector -7.5 355.0 262.5) (float-vector 22.5 355.0 262.5) (float-vector 22.5 355.0 -7.5)))
+         (instance face :init :vertices (list (float-vector -7.5 45.0 52.5) (float-vector -7.5 45.0 202.5) (float-vector 22.5 45.0 202.5) (float-vector 22.5 45.0 52.5)))
+         (instance face :init :vertices (list (float-vector 22.5 295.0 202.5) (float-vector 22.5 45.0 202.5) (float-vector -7.5 45.0 202.5) (float-vector -7.5 295.0 202.5)))
+         (instance face :init :vertices (list (float-vector 22.5 295.0 52.5) (float-vector 22.5 295.0 202.5) (float-vector -7.5 295.0 202.5) (float-vector -7.5 295.0 52.5)))
+         (instance face :init :vertices (list (float-vector -7.5 295.0 52.5) (float-vector -7.5 45.0 52.5) (float-vector 22.5 45.0 52.5) (float-vector 22.5 295.0 52.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 22.0 300.0 207.5) (float-vector -7.0 300.0 207.5) (float-vector -7.0 40.0 207.5) (float-vector 22.0 40.0 207.5)))
+         (instance face :init :vertices (list (float-vector -7.0 300.0 47.5) (float-vector 22.0 300.0 47.5) (float-vector 22.0 40.0 47.5) (float-vector -7.0 40.0 47.5)))
+         (instance face :init :vertices (list (float-vector 22.0 300.0 207.5) (float-vector 22.0 300.0 47.5) (float-vector -7.0 300.0 47.5) (float-vector -7.0 300.0 207.5)))
+         (instance face :init :vertices (list (float-vector 22.0 40.0 207.5) (float-vector 22.0 40.0 47.5) (float-vector 22.0 300.0 47.5) (float-vector 22.0 300.0 207.5)))
+         (instance face :init :vertices (list (float-vector -7.0 40.0 207.5) (float-vector -7.0 40.0 47.5) (float-vector 22.0 40.0 47.5) (float-vector 22.0 40.0 207.5)))
+         (instance face :init :vertices (list (float-vector -7.0 300.0 207.5) (float-vector -7.0 300.0 47.5) (float-vector -7.0 40.0 47.5) (float-vector -7.0 40.0 207.5)))
+       ))
+       (instance faceset :init :faces (list
+         (instance face :init :vertices (list (float-vector 22.5 -5.0 237.5) (float-vector 22.5 -5.0 257.5) (float-vector 22.5 110.0 257.5) (float-vector 22.5 110.0 237.5)))
+         (instance face :init :vertices (list (float-vector 22.5 445.0 237.5) (float-vector 22.5 330.0 237.5) (float-vector 22.5 330.0 257.5) (float-vector 22.5 445.0 257.5)))
+         (instance face :init :vertices (list (float-vector 62.5 -5.0 237.5) (float-vector 62.5 -5.0 257.5) (float-vector 22.5 -5.0 257.5) (float-vector 22.5 -5.0 237.5)))
+         (instance face :init :vertices (list (float-vector 62.5 445.0 237.5) (float-vector 62.5 445.0 257.5) (float-vector 62.5 -5.0 257.5) (float-vector 62.5 -5.0 237.5)))
+         (instance face :init :vertices (list (float-vector 22.5 445.0 257.5) (float-vector 22.5 330.0 257.5) (float-vector 52.5 330.0 257.5) (float-vector 52.5 110.0 257.5) (float-vector 22.5 110.0 257.5) (float-vector 22.5 -5.0 257.5) (float-vector 62.5 -5.0 257.5) (float-vector 62.5 445.0 257.5)))
+         (instance face :init :vertices (list (float-vector 62.5 445.0 237.5) (float-vector 62.5 -5.0 237.5) (float-vector 22.5 -5.0 237.5) (float-vector 22.5 110.0 237.5) (float-vector 52.5 110.0 237.5) (float-vector 52.5 330.0 237.5) (float-vector 22.5 330.0 237.5) (float-vector 22.5 445.0 237.5)))
+         (instance face :init :vertices (list (float-vector 22.5 445.0 237.5) (float-vector 22.5 445.0 257.5) (float-vector 62.5 445.0 257.5) (float-vector 62.5 445.0 237.5)))
+         (instance face :init :vertices (list (float-vector 52.5 110.0 237.5) (float-vector 22.5 110.0 237.5) (float-vector 22.5 110.0 257.5) (float-vector 52.5 110.0 257.5)))
+         (instance face :init :vertices (list (float-vector 52.5 330.0 257.5) (float-vector 22.5 330.0 257.5) (float-vector 22.5 330.0 237.5) (float-vector 52.5 330.0 237.5)))
+         (instance face :init :vertices (list (float-vector 52.5 330.0 237.5) (float-vector 52.5 110.0 237.5) (float-vector 52.5 110.0 257.5) (float-vector 52.5 330.0 257.5)))
+       ))
+       ))
+     (dolist (b (cdr bc)) (send (car bc) :assoc b))
+     (send (elt bc 0) :set-color :gray60)
+     (send (elt bc 1) :set-color :black)
+     (gl::transparent (elt bc 1) 0.8)
+     (send (elt bc 2) :set-color :gray60)
+     (setq blink1 (instance bodyset-link :init (make-cascoords) :bodies bc :name :hitachi-18l-oven-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 blink1 :newcoords (make-coords :pos (float-vector 147.5 -170.0 7.5) :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 :door
+     (setq joint0 (instance rotational-joint :init
+			     :parent-link blink0 :child-link blink1 :name :door      :axis :y 
+			     :min    0.0 :max   90.0 :max-joint-velocity 5 :max-joint-torque 100))
+
+
+     ;; definition of :handle
+     (setq handle0 (make-cascoords :pos (float-vector 185.0 0.0 295.0) :rot #2f((0.0 1.0 0.0) (0.0 0.0 -1.0) (-1.0 0.0 0.0)) :name "door"))
+     (send self :assoc handle0)
+
+     ;; init-ending 
+     (setq links (list blink0 blink1))
+     (setq joint-list (list joint0))
+     (send self :init-ending)
+     (send self :move-to (make-coords :pos pos :rot rot))
+     (send-all links :worldcoords)
+
+     self))
+  (:cameras (&rest args)
+   (forward-message-to-all (list) args))
+
+  (:door (&rest args) (forward-message-to joint0 args))
+  (:handle (&rest args) (forward-message-to-all (list  handle0) args))
+  (:handle-door (&rest args) (forward-message-to handle0 args))
+  (:attention (&rest args) (forward-message-to-all (list ) args))
+  (:button (&rest args) (forward-message-to-all (list ) args))
+  )
+
+(defun hitachi-18l-oven (&rest args) (instance* hitachi-18l-oven-object :init args))
+;; (format *error-output* "(instance hitachi-18l-oven-object :init) for generating model~%")

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