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

# passivesphere.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 __PASSIVESPHERE_H
    00025 #define __PASSIVESPHERE_H
    00026
    00027 #include <stdio.h>
    00028 #include <cmath>
    00029
    00030 #include "primitive.h"
    00031 #include "osgprimitive.h"
    00032 #include "abstractobstacle.h"
    00033
    00034 namespace lpzrobots {
    00035
    00036 /**
    00037  *  (Passive) sphere as obstacle
    00038  */
    00039 class PassiveSphere : public AbstractObstacle{
    00040   double radius;
    00041   double mass;
    00042   int texture;
    00043
    00044   Sphere* sphere;
    00045
    00046  public:
    00047
    00048   /**
    00049    * Constructor
    00050    */
    00051   PassiveSphere(const OdeHandle& odeHandle, const OsgHandle& osgHandle, double radius = 0.3, double mass = 1.0):
    00052     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), radius(radius), mass(mass) {
    00053     sphere = new Sphere(radius);
    00054     obst.push_back(sphere);
    00055     obstacle_exists=false;
    00056   };
    00057
    00058   virtual void setTexture(const std::string& filename){
    00059     if(sphere) sphere->getOSGPrimitive()->setTexture(filename);
    00060   }
    00061
    00062   virtual void setPose(const osg::Matrix& pose){
    00063     this->pose = osg::Matrix::translate(0,0,radius) * pose;
    00064     if (!obstacle_exists) {
    00065        create();
    00066      }
    00067      sphere->setPose(pose);
    00068   };
    00069
    00070   virtual Primitive* getMainPrimitive() const { return sphere; }
    00071
    00072
    00073  protected:
    00074   virtual void create(){
    00075     sphere->setTextures(getTextures(0));
    00076     if (mass==0.0) {
    00077       sphere->init(odeHandle, mass, osgHandle, Primitive::Geom | Primitive::Draw);
    00078      } else {
    00079       sphere->init(odeHandle, mass, osgHandle);
    00080     }
    00081     obstacle_exists=true;
    00082   };
    00083
    00084 };
    00085
    00086 }
    00087
    00088 #endif