Robotsystem of the Robot Group Leipzig: primitivecomponent.h Source File

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# primitivecomponent.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  *    marcel@informatik.uni-leipzig.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 #ifndef __PRIMTIVECOMPONENT_h
    00024 #define __PRIMTIVECOMPONENT_h
    00025
    00026
    00027 #include "components.h"
    00028
    00029
    00030 namespace lpzrobots
    00031 {
    00032
    00033 /**
    00034  * Component consisting of one Primitive
    00035  *
    00036  *
    00037  */
    00038 class PrimitiveComponent : public Component
    00039 {
    00040  public:
    00041
    00042   PrimitiveComponent( Primitive* p, const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ComponentConf& conf);
    00043
    00044   ~PrimitiveComponent ();
    00045
    00046  public:
    00047
    00048   virtual void  update ();
    00049   virtual void  place (const Pos &pos);
    00050   virtual void  place (const osg:Matrix&);
    00051
    00052
    00053   // virtual void       setColor (const Color &col);    sets color of the robot; not nessecary
    00054
    00055   virtual Position getPosition () const; //returns position of the object; relates to the robot or Primitive belonging to the component
    00056
    00057   /**
    00058    *return reference to the simple Primitive, or to the main Primitive of the robot assigend to the component. If nothimng is assigned, NULL is returned.
    00059    **/
    00060   virtual Primitive* getMainPrimitive () const;
    00061
    00062  protected:
    00063   Primitive* primitive;
    00064
    00065 };
    00066
    00067 }
    00068 #endif