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

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# passivebox.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: passivebox.h,v $
    00023  *   Revision 1.9  2009/04/02 13:10:03  fhesse
    00024  *   replace() removed; setPose() and create() adapted such
    00025  *   that replacing is now possible
    00026  *
    00027  *   Revision 1.8  2009/04/02 11:46:28  fhesse
    00028  *   replace() added (doses not call create)
    00029  *
    00030  *   Revision 1.7  2009/04/02 10:12:25  martius
    00031  *   Texture handling changed
    00032  *
    00033  *   Revision 1.6  2009/01/09 16:52:36  martius
    00034  *   use pose instead of translation only
    00035  *
    00036  *   Revision 1.5  2008/09/16 14:49:46  martius
    00037  *   use cmath instead of math.h
    00038  *
    00039  *   Revision 1.4  2007/12/06 15:59:19  der
    00040  *   if you set the mass=0.0, a passive box without a body is created
    00041  *
    00042  *   Revision 1.3  2007/03/16 11:01:37  martius
    00043  *   abstractobstacle gets mor functionallity
    00044  *   setSubstance
    00045  *
    00046  *   Revision 1.2  2006/07/14 12:23:33  martius
    00047  *   selforg becomes HEAD
    00048  *
    00049  *   Revision 1.1.2.6  2006/06/16 22:27:26  martius
    00050  *   getMainPrimtive
    00051  *
    00052  *   Revision 1.1.2.5  2006/05/18 12:54:24  robot3
    00053  *   -fixed not being able to change the color after positioning
    00054  *    the obstacle
    00055  *   -cleared the files up
    00056  *
    00057  *   Revision 1.1.2.4  2006/05/11 12:53:04  robot3
    00058  *   fixed some errors in passivebox.h
    00059  *
    00060  *   Revision 1.1.2.3  2006/05/11 08:59:15  robot3
    00061  *   -fixed a positioning bug (e.g. for passivesphere)
    00062  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00063  *
    00064  *   Revision 1.1.2.2  2006/03/30 12:34:51  martius
    00065  *   documentation updated
    00066  *
    00067  *   Revision 1.1.2.1  2006/03/29 15:04:39  martius
    00068  *   have pose now
    00069  *
    00070  *                                                    *
    00071  *                                                                         *
    00072  ***************************************************************************/
    00073 #ifndef __PASSIVEBOX_H
    00074 #define __PASSIVEBOX_H
    00075
    00076 #include <stdio.h>
    00077 #include <cmath>
    00078
    00079 #include "primitive.h"
    00080 #include "abstractobstacle.h"
    00081
    00082 namespace lpzrobots {
    00083
    00084 /**
    00085  *  (Passive) box as obstacle
    00086  */
    00087 class PassiveBox : public AbstractObstacle{
    00088   osg::Vec3 dimension;
    00089   double mass;
    00090   int texture;
    00091
    00092
    00093   Box* box;
    00094
    00095
    00096  public:
    00097
    00098   /**
    00099    * Constructor, if you set mass=0.0, you get a box which cannot be moved
    00100    */
    00101   PassiveBox(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00102              const osg::Vec3& dimension = osg::Vec3(1.0, 1.0, 1.0), double mass = 1.0):
    00103     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), dimension(dimension), mass(mass) {
    00104     box = new Box(dimension.x(), dimension.y(), dimension.z());
    00105     obst.push_back(box);
    00106     obstacle_exists=false;
    00107   };
    00108
    00109
    00110   virtual void setPose(const osg::Matrix& pose){
    00111     this->pose = osg::Matrix::translate(0,0,dimension.z()/2) * pose;
    00112     if (!obstacle_exists) {
    00113       create();
    00114     }
    00115     box->setPose(pose);
    00116   };
    00117
    00118
    00119   virtual Primitive* getMainPrimitive() const { return box; }
    00120
    00121  protected:
    00122   virtual void create(){
    00123     if (mass==0.0) {
    00124       box->init(odeHandle, mass, osgHandle, Primitive::Geom | Primitive::Draw);
    00125     } else {
    00126       box->init(odeHandle, mass, osgHandle);
    00127     }
    00128 //     osg::Vec3 pos=pose.getTrans();
    00129 //     box->setPosition(pos);
    00130     obstacle_exists=true;
    00131   };
    00132
    00133 };
    00134
    00135 }
    00136
    00137 #endif
    00138