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

# seesaw.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 __SEESAW_H
    00025 #define __SEESAW_H
    00026
    00027 #include <stdio.h>
    00028 #include <cmath>
    00029
    00030 #include "primitive.h"
    00031 #include "joint.h"
    00032 #include "abstractobstacle.h"
    00033
    00034 namespace lpzrobots {
    00035
    00036 /**
    00037  *  Seesaw
    00038  */
    00039 class Seesaw : public AbstractObstacle{
    00040   osg::Vec3 dimension;
    00041   double mass;
    00042   int texture;
    00043
    00044  public:
    00045   /**
    00046    * Constructor
    00047    * the support of the seesaw is fixed to the world
    00048    * @param mass mass of the bar
    00049    * @param dimension (length of bar, width of bar, height of support)
    00050    */
    00051   Seesaw(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00052          const osg::Vec3& dimension = osg::Vec3(4.0, 0.6, 0.3), double mass = 1.0):
    00053     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), dimension(dimension),
    00054     mass(mass) {
    00055     setTexture("Images/wood_sw.jpg");
    00056     obstacle_exists=false;
    00057   };
    00058
    00059
    00060   virtual void setPose(const osg::Matrix& pose){
    00061     this->pose = osg::Matrix::translate(0,0,dimension.z()/2.0) * pose;
    00062     if (!obstacle_exists) {
    00063       create();
    00064     }
    00065   };
    00066
    00067   virtual Primitive* getMainPrimitive() const {
    00068     if(!obst.empty()) return obst[0];
    00069     else return 0;
    00070   }
    00071
    00072  protected:
    00073   virtual void create(){
    00074     Box* support;
    00075     support = new Box(dimension.y()*0.9, dimension.y()/2.0, dimension.z());
    00076     support->setTextures(getTextures(0));
    00077     support->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00078     support->setPose(pose);
    00079     obst.push_back(support);
    00080
    00081     Box* bar;
    00082     bar = new Box(dimension.y(), dimension.x(), dimension.y()/6.0);
    00083     bar->setTextures(getTextures(1));
    00084     bar->init(odeHandle, mass, osgHandle);
    00085     bar->setPose(osg::Matrix::translate(0,0,dimension.z()/2.0) * pose);
    00086     obst.push_back(bar);
    00087
    00088     // connect them together
    00089     HingeJoint* joint = new HingeJoint(support, bar, bar->getPosition(),
    00090                                        bar->toGlobal(Axis(1,0,0)));
    00091     joint->init(odeHandle, osgHandle, true, dimension.y()*1.05,false);
    00092
    00093     // maybe set stop values
    00094     obstacle_exists=true;
    00095   };
    00096
    00097 };
    00098
    00099 }
    00100
    00101 #endif
    00102