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

# abstractground.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 __ABSTRACTGROUND_H
    00025 #define __ABSTRACTGROUND_H
    00026
    00027 #include <list>
    00028 #include "abstractobstacle.h"
    00029 #include <selforg/position.h>
    00030
    00031 namespace lpzrobots {
    00032
    00033   class Primitive;
    00034
    00035   // abstract class for any playground
    00036   class AbstractGround : public AbstractObstacle {
    00037
    00038 public:
    00039
    00040     AbstractGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00041                    bool createGround, double groundLength, double groundWidth, double wallThickness);
    00042
    00043     virtual ~AbstractGround();
    00044
    00045
    00046     virtual void setPose(const osg::Matrix& pose);
    00047
    00048     virtual void createGround(bool create);
    00049
    00050     virtual Primitive* getMainPrimitive() const;
    00051
    00052     virtual void changeGeometry(double length, double width, double height, double factorxy);
    00053
    00054     /// prints the contour of the boxes into the file
    00055     virtual void printContours(FILE* f);
    00056
    00057     /**
    00058      * assigns the texture to the object
    00059      */
    00060     virtual void setGroundTexture(const std::string& filename);
    00061
    00062     /**
    00063      * sets the ground color
    00064      * should be called before setPosition()
    00065      * @param color values in RGBA
    00066      */
    00067     virtual void setGroundColor(const Color& color);
    00068
    00069     /**
    00070      * sets the substance of the ground.
    00071      * @param substance description of the substance
    00072      */
    00073     virtual void setGroundSubstance(const Substance& substance);
    00074
    00075
    00076     /**
    00077      * returns the corner points of the groundplane
    00078      * @return list of the cornerpoints
    00079      */
    00080     virtual std::list<Position> getCornerPointsXY();
    00081
    00082     /// size in x dimension
    00083     virtual double getGroundLength(){ return groundLength; }
    00084     /// size in y dimension
    00085     virtual double getGroundWidth(){ return groundWidth; }
    00086
    00087     virtual double getGroundThickness(){ return groundThickness; }
    00088
    00089     virtual void   setGroundThickness(double thickness);
    00090
    00091   protected:
    00092
    00093     Primitive* groundPlane; // the groundplane
    00094     bool creategroundPlane;
    00095     double groundLength;
    00096     double groundWidth;
    00097     double wallThickness;
    00098     double groundThickness;
    00099     Substance groundSubstance;
    00100     std::string wallTextureFileName;
    00101     Color groundColor;
    00102     std::string groundTextureFileName;
    00103
    00104     virtual void createGround();
    00105
    00106   };
    00107
    00108 }
    00109
    00110 #endif