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

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# closedplayground.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  *                                                                         *
    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: closedplayground.h,v $
    00023  *   Revision 1.7  2008/05/06 17:14:17  martius
    00024  *   buildsystem further tuned,
    00025  *   help in Makefile
    00026  *   osg/data directory is also installed and registered at osg_robots
    00027  *
    00028  *   Revision 1.6  2007/03/16 11:01:37  martius
    00029  *   abstractobstacle gets mor functionallity
    00030  *   setSubstance
    00031  *
    00032  *   Revision 1.5  2006/09/12 08:23:13  robot8
    00033  *   -corrected the wrong call for pos with getPosition ()
    00034  *
    00035  *   Revision 1.4  2006/08/11 15:41:04  martius
    00036  *   playgrounds handle non-quadratic ground planes
    00037  *
    00038  *   Revision 1.3  2006/07/14 12:23:32  martius
    00039  *   selforg becomes HEAD
    00040  *
    00041  *   Revision 1.2.4.2  2006/05/11 08:59:15  robot3
    00042  *   -fixed a positioning bug (e.g. for passivesphere)
    00043  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00044  *
    00045  *   Revision 1.2.4.1  2006/01/10 20:25:08  martius
    00046  *   moved to osg
    00047  *
    00048  *   Revision 1.2  2005/09/22 12:24:36  martius
    00049  *   removed global variables
    00050  *   OdeHandle and GlobalData are used instead
    00051  *   sensor prepared
    00052  *
    00053  *   Revision 1.1  2005/07/21 12:01:54  robot8
    00054  *   adding a new obstacle, which is similar to playground, but closed to all directions
    00055  *
    00056  *   Revision 1.6  2005/07/18 14:52:33  martius
    00057  *   world and space are not pointers anymore.
    00058  *
    00059  *   Revision 1.5  2005/07/07 10:24:23  martius
    00060  *   avoid internal collisions
    00061  *
    00062  *   Revision 1.4  2005/06/15 14:22:11  martius
    00063  *   GPL included
    00064  *                                                                 *
    00065  ***************************************************************************/
    00066 #ifndef __CLOSEDPLAYGROUND_H
    00067 #define __CLOSEDPLAYGROUND_H
    00068
    00069
    00070 #include "playground.h"
    00071
    00072 namespace lpzrobots {
    00073
    00074   class ClosedPlayground : public Playground {
    00075
    00076   protected:
    00077     Box* roof;
    00078
    00079   public:
    00080
    00081     ClosedPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00082                      const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) , double factorxy = 1)
    00083       : Playground(odeHandle, osgHandle, dimension, factorxy){
    00084     };
    00085
    00086
    00087   protected:
    00088     virtual void create(){
    00089       Playground::create();
    00090       roof = new Box(length + 2 * width , (length * factorlength2) + 2 * width , width);
    00091       roof->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00092
    00093       roof->setPosition(getPos() + osg::Vec3(0,0,height+width/2));
    00094       obst.push_back(roof);
    00095     };
    00096
    00097
    00098     virtual void destroy(){
    00099       Playground::destroy();
    00100     }
    00101   };
    00102
    00103 }
    00104
    00105 #endif