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

# closedplayground.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 __CLOSEDPLAYGROUND_H
    00025 #define __CLOSEDPLAYGROUND_H
    00026
    00027
    00028 #include "playground.h"
    00029
    00030 namespace lpzrobots {
    00031
    00032   class ClosedPlayground : public Playground {
    00033
    00034   protected:
    00035     Box* roof;
    00036
    00037   public:
    00038
    00039     ClosedPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00040                      const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) , double factorxy = 1)
    00041       : Playground(odeHandle, osgHandle, dimension, factorxy){
    00042     };
    00043
    00044
    00045   protected:
    00046     virtual void create(){
    00047       Playground::create();
    00048       roof = new Box(length + 2 * width , (length * factorlength2) + 2 * width , width);
    00049       roof->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00050
    00051       roof->setPosition(getPos() + osg::Vec3(0,0,height+width/2));
    00052       obst.push_back(roof);
    00053     };
    00054
    00055
    00056     virtual void destroy(){
    00057       Playground::destroy();
    00058     }
    00059   };
    00060
    00061 }
    00062
    00063 #endif