Robotsystem from Robot Group Leipzig: 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 1.2.4.1  2006/01/10 20:25:08  martius
    00024  *   moved to osg
    00025  *
    00026  *   Revision 1.2  2005/09/22 12:24:36  martius
    00027  *   removed global variables
    00028  *   OdeHandle and GlobalData are used instead
    00029  *   sensor prepared
    00030  *
    00031  *   Revision 1.1  2005/07/21 12:01:54  robot8
    00032  *   adding a new obstacle, which is similar to playground, but closed to all directions
    00033  *
    00034  *   Revision 1.6  2005/07/18 14:52:33  martius
    00035  *   world and space are not pointers anymore.
    00036  *
    00037  *   Revision 1.5  2005/07/07 10:24:23  martius
    00038  *   avoid internal collisions
    00039  *
    00040  *   Revision 1.4  2005/06/15 14:22:11  martius
    00041  *   GPL included
    00042  *                                                                 *
    00043  ***************************************************************************/
    00044 #ifndef __CLOSEDPLAYGROUND_H
    00045 #define __CLOSEDPLAYGROUND_H
    00046
    00047
    00048 #include "playground.h"
    00049
    00050 namespace lpzrobots {
    00051
    00052   class ClosedPlayground : public Playground {
    00053   protected:
    00054     Box* roof;
    00055   public:
    00056
    00057   public:
    00058
    00059     ClosedPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00060                      const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) , double factorxy = 1)
    00061       :Playground(odeHandle, osgHandle, dimension, factorxy){
    00062     };
    00063
    00064
    00065   protected:
    00066     virtual void create(){
    00067       Playground::create();
    00068       roof = new Box(length + 2 * width , (length * factorlength2) + 2 * width , width);
    00069       roof->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00070
    00071       roof->setPosition(pos + osg::Vec3(0,0,height+width/2));
    00072     };
    00073
    00074
    00075     virtual void destroy(){
    00076       Playground::destroy();
    00077
    00078       if(roof) delete roof;
    00079     }
    00080   };
    00081
    00082 }
    00083
    00084 #endif