Robotsystem of the 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 1.3  2006/07/14 12:23:32  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.2.4.2  2006/05/11 08:59:15  robot3
    00027  *   -fixed a positioning bug (e.g. for passivesphere)
    00028  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
    00029  *
    00030  *   Revision 1.2.4.1  2006/01/10 20:25:08  martius
    00031  *   moved to osg
    00032  *
    00033  *   Revision 1.2  2005/09/22 12:24:36  martius
    00034  *   removed global variables
    00035  *   OdeHandle and GlobalData are used instead
    00036  *   sensor prepared
    00037  *
    00038  *   Revision 1.1  2005/07/21 12:01:54  robot8
    00039  *   adding a new obstacle, which is similar to playground, but closed to all directions
    00040  *
    00041  *   Revision 1.6  2005/07/18 14:52:33  martius
    00042  *   world and space are not pointers anymore.
    00043  *
    00044  *   Revision 1.5  2005/07/07 10:24:23  martius
    00045  *   avoid internal collisions
    00046  *
    00047  *   Revision 1.4  2005/06/15 14:22:11  martius
    00048  *   GPL included
    00049  *                                                                 *
    00050  ***************************************************************************/
    00051 #ifndef __CLOSEDPLAYGROUND_H
    00052 #define __CLOSEDPLAYGROUND_H
    00053
    00054
    00055 #include "playground.h"
    00056
    00057 namespace lpzrobots {
    00058
    00059   class ClosedPlayground : public Playground {
    00060
    00061   protected:
    00062     Box* roof;
    00063
    00064   public:
    00065
    00066     ClosedPlayground(const OdeHandle& odeHandle, const OsgHandle& osgHandle ,
    00067                      const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) , double factorxy = 1)
    00068       :Playground(odeHandle, osgHandle, dimension, factorxy){
    00069     };
    00070
    00071
    00072   protected:
    00073     virtual void create(){
    00074       Playground::create();
    00075       roof = new Box(length + 2 * width , (length * factorlength2) + 2 * width , width);
    00076       roof->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw);
    00077
    00078       roof->setPosition(pos + osg::Vec3(0,0,height+width/2));
    00079     };
    00080
    00081
    00082     virtual void destroy(){
    00083       Playground::destroy();
    00084
    00085       if(roof) delete roof;
    00086     }
    00087   };
    00088
    00089 }
    00090
    00091 #endif