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

# straightline.h

Go to the documentation of this file.

    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 __STRAIGHTLINE_H
    00025 #define __STRAIGHTLINE_H
    00026
    00027 #include "abstracttracksection.h"
    00028
    00029 /**
    00030  *  Abstract class (interface) for obstacles
    00031  */
    00032 class StraightLine : public AbstractTrackSection {
    00033
    00034 public:
    00035
    00036   /**
    00037    * Constructor
    00038    */
    00039   StraightLine(const Position& p,const double& angle);
    00040
    00041   /**
    00042    * Constructor
    00043    */
    00044   StraightLine(const Matrix& pose);
    00045
    00046   virtual ~StraightLine(){}
    00047
    00048   void setCurveAngle(double alpha);
    00049
    00050   /**
    00051    * gives the position and rotation(angle) of the segment at the
    00052    * end of the segment so that a new segment could be placed there
    00053    * if you want to place the new segment, you must muliplicate:
    00054    * getTransformedEndMatrix()*getPositionMatrix();
    00055    */
    00056   virtual Matrix getTransformedEndMatrix();
    00057
    00058
    00059   /**
    00060    * returns true if the real coordinates lay inside of the segment
    00061    */
    00062   virtual bool isInside(const Position& p);
    00063
    00064
    00065   virtual double getSectionIdValue(const Position& p);
    00066
    00067   virtual double getWidthIdValue(const Position& p);
    00068
    00069
    00070   /**
    00071    * returns the length of the segment,
    00072    * here it is the length of the arc
    00073    * formula is: radius * angle;
    00074    */
    00075   virtual double getLength();
    00076
    00077   /**
    00078    * returns the width of the segment,
    00079    */
    00080   virtual double getWidth();
    00081
    00082   /**
    00083    * sets the width of the segment,
    00084    */
    00085   virtual void setWidth(double w);
    00086
    00087
    00088   /**
    00089    * draws the obstacle (4 boxes for the playground)
    00090    */
    00091   virtual void draw();
    00092
    00093   virtual void create(dSpaceID space);
    00094
    00095   virtual void destroy();
    00096
    00097 protected:
    00098   // this is the length of the segment
    00099   double length;
    00100   // this is the width of the segment
    00101   // normally it should be the same like alle the other segments
    00102   double width;
    00103   dGeomID wallLeft; // the wall left to the street
    00104   dGeomID wallRight; // the wall right to the street
    00105   double widthWall;
    00106   double heightWall;
    00107   // angle is for straightline 0
    00108   double angle;
    00109   // determines if the curve goes right or left
    00110   double isLeft;
    00111
    00112   bool obstacle_exists;
    00113
    00114   /**
    00115    * obstacle color
    00116    */
    00117   Color color;
    00118
    00119   void setProperties();
    00120 };
    00121
    00122 #endif