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# component_to_robot.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: component_to_robot.h,v $
    00023  *   Revision 1.1.2.1  2006/01/12 14:52:37  martius
    00024  *   moved here from util directory
    00025  *
    00026  *   Revision 1.4.4.3  2005/12/06 10:13:26  martius
    00027  *   openscenegraph integration started
    00028  *
    00029  *   Revision 1.4.4.2  2005/11/15 12:30:24  martius
    00030  *   new selforg structure and OdeAgent, OdeRobot ...
    00031  *
    00032  *   Revision 1.4.4.1  2005/11/14 17:37:25  martius
    00033  *   moved to selforg
    00034  *
    00035  *   Revision 1.4  2005/11/09 13:31:51  martius
    00036  *   GPL'ised
    00037  *
    00038  ***************************************************************************/
    00039 #ifndef COMPONENT_TO_ROBOT_H
    00040 #define COMPONENT_TO_ROBOT_H
    00041
    00042 #include "component.h"
    00043 #include "oderobot.h"
    00044
    00045 namespace lpzrobots {
    00046
    00047 class Primitive;
    00048
    00049
    00050 class ComponentToRobot : public OdeRobot
    00051 {
    00052  protected:
    00053   IComponent *p_component;
    00054
    00055   WireContainer wire_container;
    00056
    00057  public:
    00058   ComponentToRobot(IComponent *_p_component, const OdeHandle& odehandle, const OsgHandle &osghandle);
    00059   virtual ~ComponentToRobot();
    00060
    00061   const char*     getName() const;
    00062
    00063   virtual void     draw               ();
    00064   virtual void     place              (Position pos , Color *c = NULL);
    00065   virtual bool     collisionCallback  (void *data, dGeomID o1, dGeomID o2);
    00066   virtual void     doInternalStuff    (const GlobalData& globalData);
    00067   virtual int      getSensors         (sensor* sensors, int sensornumber);
    00068   virtual void     setMotors          (const motor* motors, int motornumber);
    00069   virtual int      getSensorNumber    ();
    00070   virtual int      getMotorNumber     ();
    00071   virtual int      getSegmentsPosition(vector<Position> &poslist);
    00072   virtual void     setColor           (Color col);
    00073
    00074  protected:
    00075   virtual Primitive* getMainPrimitive();
    00076
    00077 };
    00078
    00079
    00080 }
    00081
    00082
    00083 #endif