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

# degreesegment.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 __DEGREESEGMENT_H
    00025 #define __DEGREESEGMENT_H
    00026
    00027 #include "abstracttracksection.h"
    00028
    00029 /**
    00030  *  class for degree segments
    00031  */
    00032 class DegreeSegment : public AbstractTrackSection {
    00033
    00034  public:
    00035
    00036   /**
    00037    * Constructor
    00038    */
    00039   DegreeSegment(const Position& p,const double& angle);
    00040
    00041
    00042   /**
    00043    * Constructor
    00044    */
    00045   DegreeSegment(const Matrix& position);
    00046
    00047   virtual ~DegreeSegment(){}
    00048
    00049
    00050 /**
    00051  * returns the length of the segment,
    00052  * here it is the length of the arc
    00053  */
    00054
    00055 virtual double getLength();
    00056
    00057 /**
    00058  * returns the width of the segment,
    00059  */
    00060  virtual double getWidth();
    00061
    00062 /**
    00063  * sets the width of the segment,
    00064  */
    00065  virtual void setWidth(double w);
    00066
    00067
    00068 virtual void setCurveAngle(const double& alpha);
    00069
    00070 virtual void setRadius(const double& rad);
    00071
    00072   /**
    00073    * gives the position and rotation(angle) of the segment at the
    00074    * end of the segment so that a new segment could be placed there
    00075    * if you want to place the new segment, you must muliplicate:
    00076    * getTransformedEndMatrix()*getPositionMatrix();
    00077    */
    00078   virtual Matrix getTransformedEndMatrix();
    00079
    00080
    00081 /**
    00082  * returns true if the real coordinates lay inside of the segment
    00083  */
    00084 virtual bool isInside(const Position& p);
    00085
    00086
    00087 /**
    00088  * returns a value between 0 and 100 that tells at which section
    00089  * you are on the segment.
    00090  * 0 means you are on the beginning
    00091  * 100 means you are at the end
    00092  * returns -1 if no IdValue can be given
    00093  */
    00094 virtual double getSectionIdValue(const Position& p);
    00095
    00096
    00097 /**
    00098  * returns a value between 0 and 100 that tells at which width
    00099  * you are on the segment, more to right or more to the left.
    00100  * 0 means you are on the left
    00101  * 50 means you are in the middle
    00102  * 100 means you are on the right
    00103  * returns -1 if no WidthValue can be given
    00104  */
    00105 virtual double getWidthIdValue(const Position& p);
    00106
    00107
    00108 /**
    00109  * draws the obstacle (4 boxes for the playground)
    00110  */
    00111  virtual  void draw();
    00112
    00113
    00114
    00115 virtual void create(dSpaceID space);
    00116
    00117
    00118 virtual  void destroy();
    00119
    00120  protected:
    00121   // this is the radius of the curve
    00122   double radius;
    00123   // this is the width of the segment
    00124   // normally it should be the same like alle the other segments
    00125   double width;
    00126
    00127   bool show_aabb;
    00128
    00129   // the wall to be drawed
    00130   list<dGeomID> innerWalls;
    00131   list<dGeomID> outerWalls;
    00132
    00133   double widthWall;
    00134   double heightWall;
    00135
    00136   // angle is for 90DegreeSegment is 90
    00137   double angle;
    00138
    00139   // determines if the curve goes left or right
    00140   int left;
    00141
    00142   bool obstacle_exists;
    00143
    00144   /**
    00145    * obstacle color
    00146    */
    00147   Color color;
    00148
    00149   void setProperties();
    00150
    00151   /**
    00152    * returns the local coordinates  on the track at the given radius and angle
    00153    that are responsible for the segment of the
    00154    */
    00155   Position getLocalCoordinates(double radius, double alpha);
    00156
    00157   /**
    00158    * returns the global coordinates on the track at the given radius and angle
    00159    that are responsible for the segment of the
    00160    */
    00161   Position getGlobalCoordinates(double radius, double alpha);
    00162
    00163 };
    00164
    00165 #endif
    00166
    00167
    00168