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

# octaplayground.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 __OCTAPLAYGROUND_H
    00025 #define __OCTAPLAYGROUND_H
    00026
    00027 #include "abstractground.h"
    00028
    00029 namespace lpzrobots {
    00030
    00031   class OctaPlayground : public AbstractGround {
    00032
    00033
    00034   protected:
    00035     double radius, width, height;
    00036
    00037     int number_elements;
    00038     double angle;
    00039     double box_length;
    00040
    00041   public:
    00042
    00043
    00044     OctaPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00045                  const Pos& geometry = Pos(7,0.2,0.5), int numberCorners=8, bool createGround=true):
    00046     AbstractGround::AbstractGround(odeHandle, osgHandle,createGround,2*geometry.x(),2*geometry.x(), geometry.y()) {
    00047     radius = geometry.x();
    00048     width  = geometry.y();
    00049     height = geometry.z();
    00050
    00051     number_elements=numberCorners;
    00052     angle= 2*M_PI/number_elements;
    00053     //    obst.resize(number_elements);
    00054
    00055     calcBoxLength();
    00056   };
    00057
    00058 protected:
    00059
    00060   virtual void create(){
    00061     createGround();
    00062
    00063     // radius for positioning is smaller than radius since we use secants.
    00064     //  r is the smallest distance of the secant to the center of the circle.
    00065     double r = sqrt(pow((1+cos(angle))/2, 2) + pow( sin(angle)/2 ,2)) * radius;
    00066     for (int i=0; i<number_elements; i++){
    00067       Box* box =  new Box(width , box_length , height);
    00068       box->setTextures(getTextures(i));
    00069       box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00070       osg::Matrix R = osg::Matrix::rotate(- i*angle, 0,0,1) *
    00071         osg::Matrix::translate( cos(M_PI - i*angle) * r,
    00072                                 sin(M_PI - i*angle) * r,
    00073                                 height/2+0.01f /*reduces graphic errors and ode collisions*/
    00074                                 )* pose;
    00075       box->setPose(R);
    00076       obst.push_back(box);
    00077     }
    00078     obstacle_exists=true;
    00079   };
    00080
    00081   virtual void calcBoxLength(){
    00082     double r = radius+width/2;
    00083     //    box_length =1.4 * sqrt( 2 * pow(radius,2) * (1 - cos(angle)) );
    00084     box_length =  sqrt(pow( 1 - cos(angle), 2) + pow(sin(angle),2)) * r;
    00085   }
    00086
    00087 };
    00088
    00089 }
    00090
    00091 #endif