Robotsystem of the Robot Group Leipzig: abstractground.h Source File

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# abstractground.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: abstractground.h,v $
    00024  *   Revision 1.2  2006/07/14 12:23:32  martius
    00025  *   selforg becomes HEAD
    00026  *
    00027  *   Revision 1.1.2.9  2006/07/14 11:36:32  martius
    00028  *   revert to older revision of robot3
    00029  *
    00030  *   Revision 1.1.2.8  2006/07/13 12:11:26  robot5
    00031  *   Using overhauled primitives Plane and Box.
    00032  *   Repeat texturing is supported by them now.
    00033  *
    00034  *   Revision 1.1.2.7  2006/06/29 16:39:55  robot3
    00035  *   -you can now see bounding shapes if you type ./start -drawboundings
    00036  *   -includes cleared up
    00037  *   -abstractobstacle and abstractground have now .cpp-files
    00038  *
    00039  *   Revision 1.1.2.6  2006/06/26 08:25:03  robot3
    00040  *   fixed ground texture bug
    00041  *
    00042  *   Revision 1.1.2.5  2006/06/22 12:25:45  der
    00043  *   added setGroundTexture and setGroundColor
    00044  *
    00045  *   Revision 1.1.2.4  2006/06/16 22:27:26  martius
    00046  *   getMainPrimtive
    00047  *
    00048  *   Revision 1.1.2.3  2006/05/23 14:13:41  der
    00049  *   fixed initialization bug
    00050  *
    00051  *   Revision 1.1.2.2  2006/05/23 13:37:45  robot3
    00052  *   -fixed some creating bugs
    00053  *   -setColor,setTexture and createGround must be
    00054  *    called before setPosition now
    00055  *
    00056  *   Revision 1.1.2.1  2006/05/19 08:41:27  robot3
    00057  *   Class AbstractGround contains now basic routines like
    00058  *   creating the groundPlane, setPose and so on
    00059  *
    00060  *                                                                         *
    00061  *                                                                         *
    00062  ***************************************************************************/
    00063 #ifndef __ABSTRACTGROUND_H
    00064 #define __ABSTRACTGROUND_H
    00065
    00066 #include <vector>
    00067 #include "abstractobstacle.h"
    00068
    00069 namespace lpzrobots {
    00070
    00071   class Primitive;
    00072
    00073   // abstract class for any playground
    00074   class AbstractGround : public AbstractObstacle {
    00075
    00076 public:
    00077
    00078     AbstractGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle, bool createGround=true);
    00079
    00080     virtual ~AbstractGround();
    00081
    00082     virtual void update();
    00083
    00084
    00085     virtual void setPose(const osg::Matrix& pose);
    00086
    00087     virtual void createGround(bool create);
    00088
    00089     /**
    00090      * sets the obstacle color
    00091      * @param color values in RGBA
    00092      */
    00093     virtual void setColor(const Color& color);
    00094
    00095
    00096     virtual void setTexture(const std::string& filename);
    00097
    00098     virtual Primitive* getMainPrimitive() const;
    00099
    00100     virtual void setGroundTexture(const std::string& filename);
    00101
    00102     /**
    00103      * sets the ground color
    00104      * should be called before setPosition()
    00105      * @param color values in RGBA
    00106      */
    00107     virtual void setGroundColor(const Color& color);
    00108
    00109   protected:
    00110
    00111     std::vector<Primitive*> obst; //obstacles
    00112     Primitive* groundPlane; // the groundplane
    00113     bool creategroundPlane;
    00114     double ground_length;
    00115     std::string wallTextureFileName;
    00116     Color groundColor;
    00117     std::string groundTextureFileName;
    00118
    00119     virtual void recreate();
    00120
    00121     virtual void create()=0;
    00122
    00123     virtual void createGround();
    00124
    00125     virtual void destroy();
    00126
    00127   };
    00128
    00129 }
    00130
    00131 #endif