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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 1.9  2006/07/14 12:23:32  martius
    00025  *   selforg becomes HEAD
    00026  *
    00027  *   Revision 1.8.4.9  2006/06/29 16:39:55  robot3
    00028  *   -you can now see bounding shapes if you type ./start -drawboundings
    00029  *   -includes cleared up
    00030  *   -abstractobstacle and abstractground have now .cpp-files
    00031  *
    00032  *   Revision 1.8.4.8  2006/06/16 22:27:26  martius
    00033  *   getMainPrimtive
    00034  *
    00035  *   Revision 1.8.4.7  2006/05/23 13:38:02  robot3
    00036  *   -fixed some creating bugs
    00037  *   -setColor,setTexture and createGround must be
    00038  *    called before setPosition now
    00039  *
    00040  *   Revision 1.8.4.6  2006/05/18 12:54:24  robot3
    00041  *   -fixed not being able to change the color after positioning
    00042  *    the obstacle
    00043  *   -cleared the files up
    00044  *
    00045  *   Revision 1.8.4.5  2006/05/11 08:59:15  robot3
    00046  *   -fixed a positioning bug (e.g. for passivesphere)
    00047  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00048  *
    00049  *   Revision 1.8.4.4  2006/03/30 12:34:51  martius
    00050  *   documentation updated
    00051  *
    00052  *   Revision 1.8.4.3  2006/03/29 15:04:38  martius
    00053  *   have pose now
    00054  *
    00055  *   Revision 1.8.4.2  2005/12/06 10:13:23  martius
    00056  *   openscenegraph integration started
    00057  *
    00058  *   Revision 1.8.4.1  2005/11/14 17:37:14  martius
    00059  *   moved to selforg
    00060  *
    00061  *   Revision 1.8  2005/10/25 19:26:56  fhesse
    00062  *   comments adjusted and in doxygen style
    00063  *
    00064  *   Revision 1.7  2005/09/22 12:24:36  martius
    00065  *   removed global variables
    00066  *   OdeHandle and GlobalData are used instead
    00067  *   sensor prepared
    00068  *
    00069  *   Revision 1.6  2005/09/13 13:20:12  martius
    00070  *   initialised color
    00071  *
    00072  *   Revision 1.5  2005/08/29 06:32:25  martius
    00073  *   added virtual destructor
    00074  *
    00075  *   Revision 1.4  2005/07/18 14:52:33  martius
    00076  *   world and space are not pointers anymore.
    00077  *
    00078  *   Revision 1.3  2005/06/15 14:22:11  martius
    00079  *   GPL included
    00080  *                                                                 *
    00081  ***************************************************************************/
    00082 #ifndef __ABSTRACTOBSTACLE_H
    00083 #define __ABSTRACTOBSTACLE_H
    00084
    00085 #include <ode/ode.h>
    00086
    00087 #include "odehandle.h"
    00088 #include "osghandle.h"
    00089 #include <osg/Matrix>
    00090
    00091 namespace lpzrobots {
    00092
    00093   class Primitive;
    00094
    00095 /**
    00096  *  Abstract class (interface) for obstacles
    00097  */
    00098 class AbstractObstacle{
    00099
    00100
    00101  public:
    00102   /**
    00103    * Constructor
    00104    * @param odeHandle containing ODE stuff like world, space and jointgroup
    00105    * @param osgHandle containing OSG stuff like scene, color...
    00106    * be used for creation of obstacles
    00107    */
    00108   AbstractObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle);
    00109
    00110   virtual ~AbstractObstacle();
    00111
    00112   /**
    00113    * updates the position if the scenegraph nodes
    00114    */
    00115   virtual void update() = 0;
    00116
    00117   /**
    00118    * sets position of the obstacle and creates/recreates obstacle if necessary
    00119    */
    00120   virtual void setPosition(const osg::Vec3& pos);
    00121
    00122   /**
    00123    * gives actual position of the obstacle
    00124    */
    00125   virtual osg::Vec3 getPosition();
    00126
    00127   /**
    00128    * gives actual pose of the obstacle
    00129    */
    00130   virtual osg::Matrix getPose();
    00131
    00132   /**
    00133    * sets position of the obstacle and creates/recreates obstacle if necessary
    00134    */
    00135   virtual void setPose(const osg::Matrix& pose) = 0;
    00136
    00137   /**
    00138    * sets the obstacle color
    00139    * @param color values in RGBA
    00140    */
    00141   virtual void setColor(const Color& color);
    00142
    00143   virtual Primitive* getMainPrimitive() const = 0;
    00144
    00145  protected:
    00146   osg::Matrix pose;
    00147   bool obstacle_exists;
    00148
    00149   OdeHandle odeHandle;
    00150   OsgHandle osgHandle;
    00151
    00152   virtual void destroy()=0;
    00153
    00154   virtual void create()=0;
    00155
    00156 };
    00157
    00158 }
    00159
    00160 #endif