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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  *                                                                         *
    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: abstractobstacle.h,v $
    00023  *   Revision 1.8.4.4  2006/03/30 12:34:51  martius
    00024  *   documentation updated
    00025  *
    00026  *   Revision 1.8.4.3  2006/03/29 15:04:38  martius
    00027  *   have pose now
    00028  *
    00029  *   Revision 1.8.4.2  2005/12/06 10:13:23  martius
    00030  *   openscenegraph integration started
    00031  *
    00032  *   Revision 1.8.4.1  2005/11/14 17:37:14  martius
    00033  *   moved to selforg
    00034  *
    00035  *   Revision 1.8  2005/10/25 19:26:56  fhesse
    00036  *   comments adjusted and in doxygen style
    00037  *
    00038  *   Revision 1.7  2005/09/22 12:24:36  martius
    00039  *   removed global variables
    00040  *   OdeHandle and GlobalData are used instead
    00041  *   sensor prepared
    00042  *
    00043  *   Revision 1.6  2005/09/13 13:20:12  martius
    00044  *   initialised color
    00045  *
    00046  *   Revision 1.5  2005/08/29 06:32:25  martius
    00047  *   added virtual destructor
    00048  *
    00049  *   Revision 1.4  2005/07/18 14:52:33  martius
    00050  *   world and space are not pointers anymore.
    00051  *
    00052  *   Revision 1.3  2005/06/15 14:22:11  martius
    00053  *   GPL included
    00054  *                                                                 *
    00055  ***************************************************************************/
    00056 #ifndef __ABSTRACTOBSTACLE_H
    00057 #define __ABSTRACTOBSTACLE_H
    00058
    00059 #include <ode/ode.h>
    00060
    00061 #include "odehandle.h"
    00062 #include "osghandle.h"
    00063
    00064 namespace lpzrobots {
    00065
    00066 /**
    00067  *  Abstract class (interface) for obstacles
    00068  */
    00069 class AbstractObstacle{
    00070
    00071  public:
    00072   /**
    00073    * Constructor
    00074    * @param odeHandle containing ODE stuff like world, space and jointgroup
    00075    * @param osgHandle containing OSG stuff like scene, color...
    00076    * be used for creation of obstacles
    00077    */
    00078   AbstractObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle)
    00079     : odeHandle(odeHandle), osgHandle(osgHandle) {
    00080   };
    00081
    00082   virtual ~AbstractObstacle(){}
    00083
    00084   /**
    00085    * updates the position if the scenegraph nodes
    00086    */
    00087   virtual void update() = 0;
    00088
    00089   /**
    00090    * sets position of the obstacle and creates/recreates obstacle if necessary
    00091    */
    00092   void setPosition(const osg::Vec3& pos){
    00093     pose.setTrans(pos);
    00094     setPose(pose);
    00095   };
    00096
    00097   /**
    00098    * gives actual position of the obstacle
    00099    */
    00100   osg::Vec3 getPosition(){
    00101     return pose.getTrans();
    00102   }
    00103
    00104   /**
    00105    * sets position of the obstacle and creates/recreates obstacle if necessary
    00106    */
    00107   virtual void setPose(const osg::Matrix& pose) = 0;
    00108
    00109   /**
    00110    * gives actual pose of the obstacle
    00111    */
    00112   virtual osg::Matrix getPose() = 0;
    00113
    00114   /**
    00115    * sets the obstacle color
    00116    * @param color values in RGBA
    00117    */
    00118   virtual void setColor(const Color& color) {
    00119     osgHandle.color = color;
    00120   };
    00121
    00122  protected:
    00123   osg::Matrix pose;
    00124
    00125   OdeHandle odeHandle;
    00126   OsgHandle osgHandle;
    00127
    00128 };
    00129
    00130 }
    00131
    00132 #endif