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

- Main Page
- Namespaces
- Classes
- Files
- Directories
- Related Pages
- Examples

- Search for |

- File List
- File Members

# plattfussschlange.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  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: plattfussschlange.h,v $
    00023  *   Revision 1.2  2007/01/26 12:05:04  martius
    00024  *   servos combinied into OneAxisServo
    00025  *
    00026  *   Revision 1.1  2006/09/20 12:57:26  martius
    00027  *   snake with feet and body
    00028  *
    00029  *   Revision 1.7  2006/07/20 17:19:44  martius
    00030  *   removed using namespace std from matrix.h
    00031  *
    00032  *   Revision 1.6  2006/07/14 12:23:41  martius
    00033  *   selforg becomes HEAD
    00034  *
    00035  *   Revision 1.5.4.7  2006/06/25 16:57:15  martius
    00036  *   abstractrobot is configureable
    00037  *   name and revision
    00038  *
    00039  *   Revision 1.5.4.6  2006/03/30 12:34:56  martius
    00040  *   documentation updated
    00041  *
    00042  *   Revision 1.5.4.5  2006/02/01 18:33:40  martius
    00043  *   use Axis type for Joint axis. very important, since otherwise Vec3 * pose is not the right direction vector anymore
    00044  *
    00045  *   Revision 1.5.4.4  2005/12/29 16:46:24  martius
    00046  *   inherits from Schlange
    00047  *   moved to osg
    00048  *
    00049  *   Revision 1.5.4.3  2005/11/16 11:26:53  martius
    00050  *   moved to selforg
    00051  *
    00052  *   Revision 1.5.4.2  2005/11/15 12:29:27  martius
    00053  *   new selforg structure and OdeAgent, OdeRobot ...
    00054  *
    00055  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00056  *   moved to selforg
    00057  *
    00058  *   Revision 1.5  2005/11/09 13:24:42  martius
    00059  *   added GPL
    00060  *
    00061  *                                                                 *
    00062  ***************************************************************************/
    00063 #ifndef __PLATFUSSSCHLANGESERVO
    00064 #define __PLATFUSSSCHLANGESERVO
    00065
    00066 #include "schlangeservo2.h"
    00067 #include "oneaxisservo.h"
    00068
    00069 namespace lpzrobots {
    00070
    00071   /**
    00072    * This is a class, which models a snake like robot with flat ends and a big body in the middle.
    00073    * It consists of a number of equal elements, each linked
    00074    * by a universal joint powered by 2 servos
    00075    **/
    00076   class PlattfussSchlange: public SchlangeServo2
    00077   {
    00078
    00079   public:
    00080     PlattfussSchlange ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00081                         const SchlangeConf& conf,
    00082                         const std::string& name);
    00083
    00084     virtual ~PlattfussSchlange();
    00085
    00086   private:
    00087     virtual Primitive* createSegment(int index);
    00088   };
    00089
    00090 }
    00091
    00092 #endif