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

# abstracttracksection.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 __ABSTRACTTRACKSECTION_H
    00025 #define __ABSTRACTTRACKSECTION_H
    00026
    00027 #include "matrix.h"
    00028 using namespace matrix;
    00029 #include "position.h"
    00030 #include <drawstuff/drawstuff.h>
    00031 #include "simulation.h"
    00032 #include "mathutils.h"
    00033
    00034 /**
    00035  *  Abstract class (interface) for obstacles
    00036  */
    00037 class AbstractTrackSection{
    00038
    00039  public:
    00040   /**
    00041    * Constructor, segment is initialized with Position (0,0,0)
    00042    * and a rotation angle=0
    00043    */
    00044   //  AbstractTrackSection() {};
    00045
    00046   /**
    00047    * Constructor where you can set the position and rotation by:
    00048    @param p is the position of the segment
    00049    @param angle is the rotation of the segment
    00050    */
    00051   AbstractTrackSection(const Position& p,const double angle) {
    00052     setPoseMatrix(getTranslationRotationMatrix(p, angle));
    00053   };
    00054
    00055   /**
    00056    * Constructor where you can set the pos-matrix by this constructor:
    00057    @param position is the position AND rotation of the segment
    00058    */
    00059   AbstractTrackSection(const Matrix& pose){
    00060     setPoseMatrix(pose);
    00061   };
    00062
    00063   virtual ~AbstractTrackSection(){}
    00064
    00065
    00066   virtual void create(dSpaceID space) = 0;
    00067
    00068   virtual void destroy() = 0;
    00069
    00070   virtual void draw() = 0;
    00071
    00072   /**
    00073    * gives the position and rotation(angle) of the segment at the
    00074    * end of the segment so that a new segment could be placed there
    00075    * the result is a matrix
    00076    */
    00077   virtual Matrix getTransformedEndMatrix() = 0;
    00078
    00079   /**
    00080    * returns true if the real coordinates lay inside of the segment
    00081    */
    00082   virtual bool isInside(const Position& p) = 0;
    00083
    00084   /**
    00085  * returns a value between 0 and length that tells at which section
    00086  * you are on the segment.
    00087  * returns -1 if no IdValue can be given
    00088  */
    00089   virtual double getSectionIdValue(const Position& p)=0;
    00090
    00091
    00092 /**
    00093  * returns a value between 0 and width that tells at which width
    00094  * you are on the segment, 0 means right and width means left.
    00095  * returns -1 if no WidthValue can be given
    00096  */
    00097 virtual double getWidthIdValue(const Position& p)=0;
    00098
    00099
    00100
    00101 /**
    00102  * returns the length of the segment,
    00103  * here it is the length of the arc
    00104  * formula is: radius * angle;
    00105  */
    00106  virtual double getLength()=0;
    00107
    00108
    00109 /**
    00110  * returns the width of the segment,
    00111  */
    00112  virtual double getWidth()=0;
    00113
    00114 /**
    00115  * sets the width of the segment,
    00116  */
    00117  virtual void setWidth(double w)=0;
    00118
    00119   Matrix getPoseMatrix(){
    00120     return pos;
    00121   }
    00122
    00123   Position transformToLocalCoord(const Position& p){
    00124     return getPosition4x1(invpos*getPositionMatrix(p));
    00125   }
    00126
    00127   Position transformToGlobalCoord(const Position& p){
    00128     return getPosition4x1(pos*getPositionMatrix(p));
    00129   }
    00130
    00131   Matrix getInversePoseMatrix(){
    00132     return invpos;
    00133   }
    00134
    00135 protected:
    00136
    00137   void setPoseMatrix(const Matrix& m){
    00138     pos = m;
    00139     invpos = invert_4x4PoseMatrix(m);
    00140   }
    00141   /**
    00142    * gives actual position of the obstacle
    00143    */
    00144   Position getPosition(){
    00145     return ::getPosition(pos);
    00146   }
    00147
    00148 private:
    00149   // saves the actual position AND rotation of the segment
    00150   Matrix pos;
    00151   Matrix invpos;
    00152 };
    00153
    00154 #endif