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# meshground.h

Go to the documentation of this file.

    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: meshground.h,v $
    00024  *   Revision 1.3  2008/09/16 14:49:46  martius
    00025  *   use cmath instead of math.h
    00026  *
    00027  *   Revision 1.2  2006/07/14 12:23:33  martius
    00028  *   selforg becomes HEAD
    00029  *
    00030  *   Revision 1.1.2.2  2006/05/29 20:10:28  martius
    00031  *   docu, but moved to terrainground anyway
    00032  *
    00033  *   Revision 1.1.2.1  2006/05/28 22:14:56  martius
    00034  *   heightfield included
    00035  *
    00036  *
    00037  *                                                                 *
    00038  ***************************************************************************/
    00039 #ifndef __MESHGROUND_H
    00040 #define __MESHGROUND_H
    00041
    00042 #include <stdio.h>
    00043 #include <cmath>
    00044
    00045 #include "heightfieldprimitive.h"
    00046 #include "abstractobstacle.h"
    00047
    00048 namespace lpzrobots {
    00049
    00050   class MeshGround : public AbstractObstacle {
    00051   public:
    00052
    00053
    00054     /** Constructor
    00055         @param odeHandle
    00056         @param osgHandle
    00057         @param filename name of the file to load.
    00058         If ending is .ppm then it is considered as a bitmap height file.
    00059         The coding mode is used to decode the heights.
    00060         Otherwise it is consider to be a OSG HeightFieldFile
    00061         @param texture image filename for the texture
    00062         @param x_size size in x direction in world coordinates
    00063         @param y_size size in y direction in world coordinates
    00064         @param height height in world coordinates
    00065         @param coding Coding mode, see OSGHeightField (this an own class, not in OSG)
    00066     */
    00067     MeshGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00068                const std::string& filename, const std::string& texture,
    00069                double x_size, double y_size, double height,
    00070                OSGHeightField::CodingMode coding = OSGHeightField::Red);
    00071
    00072     /**
    00073      * updates the position of the geoms  ( not nessary for static objects)
    00074      */
    00075     virtual void update(){ };
    00076
    00077     virtual void setPose(const osg::Matrix& pose);
    00078
    00079
    00080   protected:
    00081     virtual void create();
    00082     virtual void destroy();
    00083
    00084   protected:
    00085     std::string filename;
    00086     std::string texture;
    00087     HeightField* heightfield;
    00088     double x_size;
    00089     double y_size;
    00090     double height;
    00091     OSGHeightField::CodingMode coding;
    00092   };
    00093 }
    00094
    00095 #endif