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

# plattfussschlange.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 __PLATFUSSSCHLANGESERVO
    00025 #define __PLATFUSSSCHLANGESERVO
    00026
    00027 #include "schlangeservo2.h"
    00028 #include "oneaxisservo.h"
    00029
    00030 namespace lpzrobots {
    00031
    00032   /**
    00033    * This is a class, which models a snake like robot with flat ends and a big body in the middle.
    00034    * It consists of a number of equal elements, each linked
    00035    * by a universal joint powered by 2 servos
    00036    **/
    00037   class PlattfussSchlange: public SchlangeServo2
    00038   {
    00039
    00040   public:
    00041     PlattfussSchlange ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00042                         const SchlangeConf& conf,
    00043                         const std::string& name);
    00044
    00045     virtual ~PlattfussSchlange();
    00046
    00047   private:
    00048     virtual Primitive* createSegment(int index, const OdeHandle& odeHandle);
    00049   };
    00050
    00051 }
    00052
    00053 #endif