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# abstractobstacle.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  *    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: abstractobstacle.h,v $
    00024  *   Revision 1.12  2009/04/02 10:12:25  martius
    00025  *   Texture handling changed
    00026  *
    00027  *   Revision 1.11  2007/12/06 10:02:49  der
    00028  *   abstractground: returns now cornerpoints
    00029  *   abstractobstacle: is now trackable
    00030  *   hudstatistics: supports now AbstractmMeasure
    00031  *
    00032  *   Revision 1.10  2007/03/16 11:01:37  martius
    00033  *   abstractobstacle gets mor functionallity
    00034  *   setSubstance
    00035  *
    00036  *   Revision 1.9  2006/07/14 12:23:32  martius
    00037  *   selforg becomes HEAD
    00038  *
    00039  *   Revision 1.8.4.9  2006/06/29 16:39:55  robot3
    00040  *   -you can now see bounding shapes if you type ./start -drawboundings
    00041  *   -includes cleared up
    00042  *   -abstractobstacle and abstractground have now .cpp-files
    00043  *
    00044  *   Revision 1.8.4.8  2006/06/16 22:27:26  martius
    00045  *   getMainPrimtive
    00046  *
    00047  *   Revision 1.8.4.7  2006/05/23 13:38:02  robot3
    00048  *   -fixed some creating bugs
    00049  *   -setColor,setTexture and createGround must be
    00050  *    called before setPosition now
    00051  *
    00052  *   Revision 1.8.4.6  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 1.8.4.5  2006/05/11 08:59:15  robot3
    00058  *   -fixed a positioning bug (e.g. for passivesphere)
    00059  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00060  *
    00061  *   Revision 1.8.4.4  2006/03/30 12:34:51  martius
    00062  *   documentation updated
    00063  *
    00064  *   Revision 1.8.4.3  2006/03/29 15:04:38  martius
    00065  *   have pose now
    00066  *
    00067  *   Revision 1.8.4.2  2005/12/06 10:13:23  martius
    00068  *   openscenegraph integration started
    00069  *
    00070  *   Revision 1.8.4.1  2005/11/14 17:37:14  martius
    00071  *   moved to selforg
    00072  *
    00073  *   Revision 1.8  2005/10/25 19:26:56  fhesse
    00074  *   comments adjusted and in doxygen style
    00075  *
    00076  *   Revision 1.7  2005/09/22 12:24:36  martius
    00077  *   removed global variables
    00078  *   OdeHandle and GlobalData are used instead
    00079  *   sensor prepared
    00080  *
    00081  *   Revision 1.6  2005/09/13 13:20:12  martius
    00082  *   initialised color
    00083  *
    00084  *   Revision 1.5  2005/08/29 06:32:25  martius
    00085  *   added virtual destructor
    00086  *
    00087  *   Revision 1.4  2005/07/18 14:52:33  martius
    00088  *   world and space are not pointers anymore.
    00089  *
    00090  *   Revision 1.3  2005/06/15 14:22:11  martius
    00091  *   GPL included
    00092  *                                                                 *
    00093  ***************************************************************************/
    00094 #ifndef __ABSTRACTOBSTACLE_H
    00095 #define __ABSTRACTOBSTACLE_H
    00096
    00097 #include <ode/ode.h>
    00098
    00099 #include "odehandle.h"
    00100 #include "osghandle.h"
    00101 #include <osg/Matrix>
    00102
    00103 #include <vector>
    00104
    00105 class Position;
    00106 namespace matrix { class Matrix; }
    00107
    00108 namespace lpzrobots {
    00109
    00110   class Primitive;
    00111
    00112 /**
    00113  *  Abstract class (interface) for obstacles
    00114  */
    00115 class AbstractObstacle{
    00116
    00117
    00118  public:
    00119   /**
    00120    * Constructor
    00121    * @param odeHandle containing ODE stuff like world, space and jointgroup
    00122    * @param osgHandle containing OSG stuff like scene, color...
    00123    * be used for creation of obstacles
    00124    */
    00125   AbstractObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle);
    00126
    00127   virtual ~AbstractObstacle();
    00128
    00129   /**
    00130    * updates the position if the scenegraph nodes
    00131    * the default implementation calls update on all primitive on "obst"
    00132    */
    00133   virtual void update();
    00134
    00135   /**
    00136    * sets position of the obstacle and creates/recreates obstacle if necessary
    00137    */
    00138   virtual void setPos(const osg::Vec3& pos);
    00139
    00140     /**
    00141    * sets position of the obstacle and creates/recreates obstacle if necessary
    00142    */
    00143   virtual void setPosition(const osg::Vec3& pos);
    00144
    00145   /**
    00146    * gives actual position of the obstacle
    00147    */
    00148   virtual osg::Vec3 getPos();
    00149
    00150   /**
    00151    * gives actual pose of the obstacle
    00152    */
    00153   virtual osg::Matrix getPose();
    00154
    00155   /**
    00156    * sets position of the obstacle and creates/recreates obstacle if necessary
    00157    */
    00158   virtual void setPose(const osg::Matrix& pose) = 0;
    00159
    00160   /**
    00161    * sets the obstacle color
    00162    * @param color values in RGBA
    00163    */
    00164   virtual void setColor(const Color& color);
    00165
    00166   /** assigns a texture to the all primitives of this obstactle
    00167       @see Primitive::setTexture()
    00168   */
    00169   virtual void setTexture(const std::string& filename, double repeatOnX=1, double repeatOnY=1);
    00170   /** assigns a texture to the x-th surface of each primitive,
    00171       @see Primitive::setTexture()
    00172   */
    00173   virtual void setTexture(int surface, const std::string& filename, double repeatOnX, double repeatOnY);
    00174
    00175   /// return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
    00176   virtual Primitive* getMainPrimitive() const = 0;
    00177
    00178   /**
    00179    * sets the substance of the obtactle. It is applied to all objects in obj
    00180    * @param substance description of the substance
    00181    */
    00182   virtual void setSubstance(const Substance& substance);
    00183
    00184    /*********** BEGIN TRACKABLE INTERFACE *******************/
    00185
    00186    /** returns position of the object
    00187   @return vector of position (x,y,z)
    00188    */
    00189   virtual Position getPosition() const;
    00190
    00191   /** returns linear speed vector of the object
    00192   @return vector  (vx,vy,vz)
    00193    */
    00194   virtual Position getSpeed() const;
    00195
    00196   /** returns angular velocity vector of the object
    00197   @return vector  (wx,wy,wz)
    00198    */
    00199   virtual Position getAngularSpeed() const;
    00200
    00201   /** returns the orientation of the object
    00202   @return 3x3 rotation matrix
    00203    */
    00204   virtual matrix::Matrix getOrientation() const;
    00205
    00206   /*********** END TRACKABLE INTERFACE *******************/
    00207
    00208  protected:
    00209   std::vector<Primitive*> obst; ///< primitives which belong to this obstacle
    00210
    00211   osg::Matrix pose;
    00212   bool obstacle_exists;
    00213
    00214   OdeHandle odeHandle;
    00215   OsgHandle osgHandle;
    00216
    00217   /// is called to destroy the object. The default implementation is to delete all primitives in "obst".
    00218   virtual void destroy();
    00219
    00220   /// overload this function to create the obstactle. All primitives should go into the list "obst"
    00221   virtual void create()=0;
    00222
    00223 };
    00224
    00225 }
    00226
    00227 #endif