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

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# abstractground.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: abstractground.h,v $
    00024  *   Revision 1.11  2009/04/02 10:12:25  martius
    00025  *   Texture handling changed
    00026  *
    00027  *   Revision 1.10  2008/04/17 15:59:00  martius
    00028  *   OSG2 port finished
    00029  *
    00030  *   Revision 1.9.2.1  2008/04/15 16:21:52  martius
    00031  *   Profiling
    00032  *   Multithreading also for OSG and ODE but disables because of instabilities
    00033  *
    00034  *   Revision 1.9  2007/12/06 10:02:49  der
    00035  *   abstractground: returns now cornerpoints
    00036  *   abstractobstacle: is now trackable
    00037  *   hudstatistics: supports now AbstractmMeasure
    00038  *
    00039  *   Revision 1.8  2007/09/06 18:46:41  martius
    00040  *   printContours
    00041  *
    00042  *   Revision 1.7  2007/08/24 11:53:10  martius
    00043  *   Change geometry
    00044  *
    00045  *   Revision 1.6  2007/07/03 13:06:41  martius
    00046  *   groundplane thick
    00047  *
    00048  *   Revision 1.5  2007/04/05 15:10:14  martius
    00049  *   extra ground substance
    00050  *
    00051  *   Revision 1.4  2007/03/16 11:01:37  martius
    00052  *   abstractobstacle gets mor functionallity
    00053  *   setSubstance
    00054  *
    00055  *   Revision 1.3  2006/08/11 15:41:04  martius
    00056  *   playgrounds handle non-quadratic ground planes
    00057  *
    00058  *   Revision 1.2  2006/07/14 12:23:32  martius
    00059  *   selforg becomes HEAD
    00060  *
    00061  *   Revision 1.1.2.9  2006/07/14 11:36:32  martius
    00062  *   revert to older revision of robot3
    00063  *
    00064  *   Revision 1.1.2.8  2006/07/13 12:11:26  robot5
    00065  *   Using overhauled primitives Plane and Box.
    00066  *   Repeat texturing is supported by them now.
    00067  *
    00068  *   Revision 1.1.2.7  2006/06/29 16:39:55  robot3
    00069  *   -you can now see bounding shapes if you type ./start -drawboundings
    00070  *   -includes cleared up
    00071  *   -abstractobstacle and abstractground have now .cpp-files
    00072  *
    00073  *   Revision 1.1.2.6  2006/06/26 08:25:03  robot3
    00074  *   fixed ground texture bug
    00075  *
    00076  *   Revision 1.1.2.5  2006/06/22 12:25:45  der
    00077  *   added setGroundTexture and setGroundColor
    00078  *
    00079  *   Revision 1.1.2.4  2006/06/16 22:27:26  martius
    00080  *   getMainPrimtive
    00081  *
    00082  *   Revision 1.1.2.3  2006/05/23 14:13:41  der
    00083  *   fixed initialization bug
    00084  *
    00085  *   Revision 1.1.2.2  2006/05/23 13:37:45  robot3
    00086  *   -fixed some creating bugs
    00087  *   -setColor,setTexture and createGround must be
    00088  *    called before setPosition now
    00089  *
    00090  *   Revision 1.1.2.1  2006/05/19 08:41:27  robot3
    00091  *   Class AbstractGround contains now basic routines like
    00092  *   creating the groundPlane, setPose and so on
    00093  *
    00094  *                                                                         *
    00095  *                                                                         *
    00096  ***************************************************************************/
    00097 #ifndef __ABSTRACTGROUND_H
    00098 #define __ABSTRACTGROUND_H
    00099
    00100 #include <list>
    00101 #include "abstractobstacle.h"
    00102 #include <selforg/position.h>
    00103
    00104 namespace lpzrobots {
    00105
    00106   class Primitive;
    00107
    00108   // abstract class for any playground
    00109   class AbstractGround : public AbstractObstacle {
    00110
    00111 public:
    00112
    00113     AbstractGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00114                    bool createGround, double groundLength, double groundWidth, double wallThickness);
    00115
    00116     virtual ~AbstractGround();
    00117
    00118
    00119     virtual void setPose(const osg::Matrix& pose);
    00120
    00121     virtual void createGround(bool create);
    00122
    00123     /// sets texture of walls. Attention, repeats are so far ignored
    00124     virtual void setTexture(const std::string& filename, double repeatOnX=1, double repeatOnY=1);
    00125
    00126     virtual Primitive* getMainPrimitive() const;
    00127
    00128     virtual void changeGeometry(double length, double width, double height, double factorxy);
    00129
    00130     /// prints the contour of the boxes into the file
    00131     virtual void printContours(FILE* f);
    00132
    00133     /**
    00134      * assigns the texture to the object
    00135      */
    00136     virtual void setGroundTexture(const std::string& filename);
    00137
    00138     /**
    00139      * sets the ground color
    00140      * should be called before setPosition()
    00141      * @param color values in RGBA
    00142      */
    00143     virtual void setGroundColor(const Color& color);
    00144
    00145     /**
    00146      * sets the substance of the ground.
    00147      * @param substance description of the substance
    00148      */
    00149     virtual void setGroundSubstance(const Substance& substance);
    00150
    00151
    00152     /**
    00153      * returns the corner points of the groundplane
    00154      * @return list of the cornerpoints
    00155      */
    00156     virtual std::list<Position> getCornerPointsXY();
    00157
    00158
    00159
    00160   protected:
    00161
    00162     Primitive* groundPlane; // the groundplane
    00163     bool creategroundPlane;
    00164     double groundLength;
    00165     double groundWidth;
    00166     double wallThickness;
    00167     std::string wallTextureFileName;
    00168     Color groundColor;
    00169     std::string groundTextureFileName;
    00170
    00171     virtual void createGround();
    00172
    00173   };
    00174
    00175 }
    00176
    00177 #endif