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# abstracttracksection.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.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  *   $Log: abstracttracksection.h,v $
    00024  *   Revision 1.5  2008/05/07 16:45:51  martius
    00025  *   code cosmetics and documentation
    00026  *
    00027  *   Revision 1.4  2005/12/12 13:44:41  martius
    00028  *   barcodesensor is working
    00029  *
    00030  *   Revision 1.3  2005/12/03 16:57:12  martius
    00031  *   setWidth is void
    00032  *
    00033  *   Revision 1.2  2005/11/22 15:51:23  robot3
    00034  *   testing
    00035  *
    00036  *   Revision 1.1  2005/11/15 14:29:25  robot3
    00037  *   first version
    00038  *
    00039  *                                                                         *
    00040  ***************************************************************************/
    00041 #ifndef __ABSTRACTTRACKSECTION_H
    00042 #define __ABSTRACTTRACKSECTION_H
    00043
    00044 #include "matrix.h"
    00045 using namespace matrix;
    00046 #include "position.h"
    00047 #include <drawstuff/drawstuff.h>
    00048 #include "simulation.h"
    00049 #include "mathutils.h"
    00050
    00051 /**
    00052  *  Abstract class (interface) for obstacles
    00053  */
    00054 class AbstractTrackSection{
    00055
    00056  public:
    00057   /**
    00058    * Constructor, segment is initialized with Position (0,0,0)
    00059    * and a rotation angle=0
    00060    */
    00061   //  AbstractTrackSection() {};
    00062
    00063   /**
    00064    * Constructor where you can set the position and rotation by:
    00065    @param p is the position of the segment
    00066    @param angle is the rotation of the segment
    00067    */
    00068   AbstractTrackSection(const Position& p,const double angle) {
    00069     setPoseMatrix(getTranslationRotationMatrix(p, angle));
    00070   };
    00071
    00072   /**
    00073    * Constructor where you can set the pos-matrix by this constructor:
    00074    @param position is the position AND rotation of the segment
    00075    */
    00076   AbstractTrackSection(const Matrix& pose){
    00077     setPoseMatrix(pose);
    00078   };
    00079
    00080   virtual ~AbstractTrackSection(){}
    00081
    00082
    00083   virtual void create(dSpaceID space) = 0;
    00084
    00085   virtual void destroy() = 0;
    00086
    00087   virtual void draw() = 0;
    00088
    00089   /**
    00090    * gives the position and rotation(angle) of the segment at the
    00091    * end of the segment so that a new segment could be placed there
    00092    * the result is a matrix
    00093    */
    00094   virtual Matrix getTransformedEndMatrix() = 0;
    00095
    00096   /**
    00097    * returns true if the real coordinates lay inside of the segment
    00098    */
    00099   virtual bool isInside(const Position& p) = 0;
    00100
    00101   /**
    00102  * returns a value between 0 and length that tells at which section
    00103  * you are on the segment.
    00104  * returns -1 if no IdValue can be given
    00105  */
    00106   virtual double getSectionIdValue(const Position& p)=0;
    00107
    00108
    00109 /**
    00110  * returns a value between 0 and width that tells at which width
    00111  * you are on the segment, 0 means right and width means left.
    00112  * returns -1 if no WidthValue can be given
    00113  */
    00114 virtual double getWidthIdValue(const Position& p)=0;
    00115
    00116
    00117
    00118 /**
    00119  * returns the length of the segment,
    00120  * here it is the length of the arc
    00121  * formula is: radius * angle;
    00122  */
    00123  virtual double getLength()=0;
    00124
    00125
    00126 /**
    00127  * returns the width of the segment,
    00128  */
    00129  virtual double getWidth()=0;
    00130
    00131 /**
    00132  * sets the width of the segment,
    00133  */
    00134  virtual void setWidth(double w)=0;
    00135
    00136   Matrix getPoseMatrix(){
    00137     return pos;
    00138   }
    00139
    00140   Position transformToLocalCoord(const Position& p){
    00141     return getPosition4x1(invpos*getPositionMatrix(p));
    00142   }
    00143
    00144   Position transformToGlobalCoord(const Position& p){
    00145     return getPosition4x1(pos*getPositionMatrix(p));
    00146   }
    00147
    00148   Matrix getInversePoseMatrix(){
    00149     return invpos;
    00150   }
    00151
    00152 protected:
    00153
    00154   void setPoseMatrix(const Matrix& m){
    00155     pos = m;
    00156     invpos = invert_4x4PoseMatrix(m);
    00157   }
    00158   /**
    00159    * gives actual position of the obstacle
    00160    */
    00161   Position getPosition(){
    00162     return ::getPosition(pos);
    00163   }
    00164
    00165 private:
    00166   // saves the actual position AND rotation of the segment
    00167   Matrix pos;
    00168   Matrix invpos;
    00169 };
    00170
    00171 #endif