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

# randomobstacles.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 __RANDOMOBSTACLES_H
    00025 #define __RANDOMOBSTACLES_H
    00026
    00027 #include "abstractobstacle.h"
    00028 #include "abstractground.h"
    00029 #include "pos.h"
    00030
    00031 namespace lpzrobots {
    00032
    00033   struct RandomObstaclesConf {
    00034     Pos area; ///< zero centered, use setPose to shift around (z() component is the height)
    00035     osg::Matrix pose;
    00036     Pos minSize;
    00037     Pos maxSize;
    00038     double minDensity;
    00039     double maxDensity;
    00040     int boxRelFreq;
    00041     int sphereRelFreq;
    00042     int capRelFreq;
    00043   };
    00044
    00045   /**
    00046    * Passive random obstacles:
    00047    * with spawn and remove obstacles can be created and removed.
    00048    * Add an instance to global.obstacles to customize the creation
    00049    *  otherwise a default version is used (though dependend on the playground)
    00050    */
    00051   class RandomObstacles : public AbstractObstacle {
    00052
    00053     int index;
    00054     RandomObstaclesConf conf;
    00055   public:
    00056     enum OType {Box, Sphere, Caps, ORandom};
    00057     enum SType {Metal, Plastic, Rubber, Foam, SRandom};
    00058
    00059     /// creates a default configuration, optionally with the size and position of the ground
    00060     static RandomObstaclesConf getDefaultConf(AbstractGround* ground = 0){
    00061       RandomObstaclesConf c;
    00062       if(ground){
    00063         c.area  = Pos(ground->getGroundLength()/2, ground->getGroundWidth()/2, 5)*0.95;
    00064         c.pose =  ground->getPose();
    00065       }else{
    00066         c.area    = Pos(10,10,4);
    00067         c.pose    = osg::Matrix::translate(0,0,0);
    00068       }
    00069       c.minSize = Pos(.5,.5,.5);
    00070       c.maxSize = Pos(2,2,2);
    00071       c.minDensity=1;
    00072       c.maxDensity=10;
    00073       c.boxRelFreq=5;
    00074       c.sphereRelFreq=1;
    00075       c.capRelFreq=1;
    00076       return c;
    00077     }
    00078
    00079     RandomObstacles(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00080                     const RandomObstaclesConf& conf = getDefaultConf());
    00081
    00082
    00083     virtual void setPose(const osg::Matrix& pose);
    00084
    00085     virtual Primitive* getMainPrimitive() const;
    00086
    00087     virtual void create(){};
    00088
    00089     virtual void remove(bool all = false);
    00090
    00091     virtual void spawn(OType type = ORandom , SType subtype = SRandom);
    00092
    00093   };
    00094
    00095 }
    00096
    00097 #endif
    00098
    00099
    00100