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

# meshground.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 __MESHGROUND_H
    00025 #define __MESHGROUND_H
    00026
    00027 #include <stdio.h>
    00028 #include <cmath>
    00029
    00030 #include "heightfieldprimitive.h"
    00031 #include "abstractobstacle.h"
    00032
    00033 namespace lpzrobots {
    00034
    00035   class MeshGround : public AbstractObstacle {
    00036   public:
    00037
    00038
    00039     /** Constructor
    00040         @param odeHandle
    00041         @param osgHandle
    00042         @param filename name of the file to load.
    00043         If ending is .ppm then it is considered as a bitmap height file.
    00044         The coding mode is used to decode the heights.
    00045         Otherwise it is consider to be a OSG HeightFieldFile
    00046         @param texture image filename for the texture
    00047         @param x_size size in x direction in world coordinates
    00048         @param y_size size in y direction in world coordinates
    00049         @param height height in world coordinates
    00050         @param coding Coding mode, see OSGHeightField (this an own class, not in OSG)
    00051     */
    00052     MeshGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00053                const std::string& filename, const std::string& texture,
    00054                double x_size, double y_size, double height,
    00055                OSGHeightField::CodingMode coding = OSGHeightField::Red);
    00056
    00057     /**
    00058      * updates the position of the geoms  ( not nessary for static objects)
    00059      */
    00060     virtual void update(){ };
    00061
    00062     virtual void setPose(const osg::Matrix& pose);
    00063
    00064
    00065   protected:
    00066     virtual void create();
    00067     virtual void destroy();
    00068
    00069   protected:
    00070     std::string filename;
    00071     std::string texture;
    00072     HeightField* heightfield;
    00073     double x_size;
    00074     double y_size;
    00075     double height;
    00076     OSGHeightField::CodingMode coding;
    00077   };
    00078 }
    00079
    00080 #endif