Robot Simulator of the Robotics Group for Self-Organization of Control: tmpobject.h Source File

# tmpobject.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __TMPOBJECT_H
    00025 #define __TMPOBJECT_H
    00026
    00027 #include "osghandle.h"
    00028 #include "odehandle.h"
    00029 #include "pose.h"
    00030
    00031 namespace lpzrobots {
    00032
    00033   /**
    00034      this is the base-class for objects that exist temporarily like
    00035      some indicator of manipulation are a message
    00036    */
    00037   class TmpObject {
    00038   public:
    00039     TmpObject()
    00040       : time(0) {} ;
    00041     virtual void init(const OdeHandle& odeHandle, const OsgHandle& osgHandle) = 0;
    00042     /// deletes the object
    00043     virtual void deleteObject() = 0;
    00044     /// update graphics here
    00045     virtual void update() =0 ;
    00046
    00047     void setExpireTime(double time) { this->time= time; }
    00048     bool expired(double time) { return this->time < time;}
    00049
    00050   protected:
    00051     double time;
    00052   };
    00053
    00054 }
    00055
    00056 #endif