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

# globaldata.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 __GLOBALDATA_H
    00025 #define __GLOBALDATA_H
    00026
    00027 #include <vector>
    00028 #include <map>
    00029 #include "odehandle.h"
    00030 #include "odeconfig.h"
    00031 #include "sound.h"
    00032 #include "tmpobject.h"
    00033 #include <selforg/plotoption.h>
    00034 #include <selforg/globaldatabase.h>
    00035 #include <selforg/backcallervector.h>
    00036
    00037 class Configurable;
    00038
    00039 namespace lpzrobots {
    00040
    00041   class OdeAgent;
    00042   class AbstractObstacle;
    00043   class Primitive;
    00044   class OSGPrimitive;
    00045
    00046   typedef std::vector<AbstractObstacle*> ObstacleList;
    00047   typedef Configurable::configurableList ConfigList;
    00048   typedef BackCallerVector<OdeAgent*> OdeAgentList;
    00049   typedef std::list<Sound> SoundList;
    00050   typedef std::list<PlotOption> PlotOptionList;
    00051   typedef std::multimap<double, TmpObject* > TmpObjectMap;
    00052   typedef std::list< std::pair<double, TmpObject*> > TmpObjectList;
    00053
    00054   /**
    00055    Data structure holding all essential global information.
    00056    */
    00057   class GlobalData : public GlobalDataBase {
    00058     public:
    00059       GlobalData() {
    00060         sim_step = 0;
    00061         environment = 0;
    00062       }
    00063
    00064       virtual ~GlobalData() {}
    00065
    00066       OdeConfig odeConfig;
    00067       ObstacleList obstacles;
    00068       OdeAgentList agents;
    00069       Primitive* environment; /// < this is used to be able to attach objects to the static environment
    00070
    00071       // Todo: the sound visualization could be done with the new TmpObjects
    00072       SoundList sounds; ///< sound space
    00073
    00074       PlotOptionList plotoptions; ///< plotoptions used for new agents
    00075       std::list<Configurable*> globalconfigurables; ///< global configurables plotted by all agents
    00076
    00077       double time;
    00078       long int sim_step; ///< time steps since start
    00079
    00080       /// returns the list of all agents
    00081       virtual AgentList& getAgents();
    00082
    00083
    00084       /// adds a temporary display item with given life duration in sec
    00085       virtual void addTmpObject(TmpObject* i, double duration);
    00086
    00087       /// called by Simulation to initialize tmp objects
    00088       virtual void initializeTmpObjects(const OdeHandle& odeHandle,
    00089                                         const OsgHandle& osgHandle);
    00090       /// called by Simulation to update tmp objects
    00091       virtual void updateTmpObjects(const OsgHandle& osgHandle);
    00092
    00093       /** called by Simulation to removes all expired sounds and temporary objects.
    00094           Optionally a time can be specified otherwise the internal time is used.
    00095       */
    00096       virtual void removeExpiredObjects(double time = -1);
    00097
    00098     private:
    00099
    00100       TmpObjectList uninitializedTmpObjects;
    00101       TmpObjectMap  tmpObjects;
    00102       AgentList     baseAgents;
    00103   };
    00104
    00105 }
    00106
    00107 #endif