Re: [PlayerStage-Gazebo] multiple interfaces in a model

[ahoward <ah...@us...>]

On Sun, 28 Nov 2004, M.E. Ahiyya wrote:

> I have a question about multiple interfaces in a
> model. Is it possible to have multiple instances of
> the same interface in a model? If so, is there an
> example of this somewhere? If not, what do people
> think would be the best way to go about implementing
> this functionality? Thanks.

Hi Mahalelel:

The only difficulty with having multiple interfaces of the same type is
working out a unique interface id.  Generally speaking, interfaces simply
take the id of the model they belong to, but this is not a strict
requirement: you can easily add a unique suffix to distinguish the
interfaces.

For example, say you have a robot with two position interfaces; you can
always do something like this:

myrobot.world:

  <model:myrobot>
    <id>robot1</id>
    ...
  <model:/myrobot>

MyRobot.cc:

  snprintf(id, sizeof(id), "%s_foo", this->GetId());
  gz_position_create(this->foo_iface, this->world->gz_server, id, ...)

  snprintf(id, sizeof(id), "%s_bar", this->GetId());
  gz_position_create(this->bar_iface, this->world->gz_server, id, ...)

On the libgazebo/Player side, you would access these two interfaces using
the gz_ids "robot1_foo" and "robot1_bar" respectively.

	A.


Andrew Howard                           email: ah...@po...
Department of Computer Science          http:  www-robotics.usc.edu/~ahoward
University of Southern California       phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781      fax:   1 (213) 821 5696
    << Insert pithy saying here >>>