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

# DummyObstacle.h

Go to the documentation of this file.

    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 __DUMMYOBSTACLE_H_
    00025 #define __DUMMYOBSTACLE_H_
    00026
    00027 #include "abstractobstacle.h"
    00028
    00029 namespace lpzrobots {
    00030
    00031   /**
    00032    * DummyObstacle which holds a DummyPrimitive (so getMainPrimitive() works).
    00033    */
    00034   class DummyObstacle : public lpzrobots::AbstractObstacle {
    00035     public:
    00036       DummyObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle);
    00037       virtual ~DummyObstacle();
    00038
    00039       /**
    00040        * sets position of the obstacle and creates/recreates obstacle if necessary
    00041        */
    00042       virtual void setPose(const osg::Matrix& pose);
    00043
    00044       /// return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
    00045       virtual Primitive* getMainPrimitive() const;
    00046
    00047     protected:
    00048       /// overload this function to create the obstactle. All primitives should go into the list "obst"
    00049       virtual void create();
    00050   };
    00051
    00052 }
    00053
    00054 #endif /* __DUMMYOBSTACLE_H_ */