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

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# globaldata.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: globaldata.h,v $
    00023  *   Revision 1.4  2006/07/14 12:23:56  martius
    00024  *   selforg becomes HEAD
    00025  *
    00026  *   Revision 1.3.4.5  2006/06/25 17:01:26  martius
    00027  *   removed using namespace std
    00028  *
    00029  *   Revision 1.3.4.4  2006/03/29 15:10:00  martius
    00030  *   Dummy Primitive for Environment
    00031  *
    00032  *   Revision 1.3.4.3  2005/12/06 10:13:26  martius
    00033  *   openscenegraph integration started
    00034  *
    00035  *   Revision 1.3.4.2  2005/11/15 12:30:24  martius
    00036  *   new selforg structure and OdeAgent, OdeRobot ...
    00037  *
    00038  *   Revision 1.3.4.1  2005/11/14 17:37:25  martius
    00039  *   moved to selforg
    00040  *
    00041  *   Revision 1.3  2005/11/09 13:31:51  martius
    00042  *   GPL'ised
    00043  *
    00044  ***************************************************************************/
    00045 #ifndef __GLOBALDATA_H
    00046 #define __GLOBALDATA_H
    00047
    00048
    00049 #include <vector>
    00050 #include "odehandle.h"
    00051 #include "odeconfig.h"
    00052
    00053 class Configurable;
    00054
    00055 namespace lpzrobots {
    00056
    00057 class OdeAgent;
    00058 class AbstractObstacle;
    00059 class Primitive;
    00060
    00061 typedef std::vector<AbstractObstacle*> ObstacleList; ///
    00062 typedef std::vector<Configurable*> ConfigList;       ///
    00063 typedef std::vector<OdeAgent*> OdeAgentList;         ///
    00064
    00065 /**
    00066   Data structure holding all essential global information.
    00067 */
    00068 typedef struct GlobalData
    00069 {
    00070   GlobalData() {
    00071     time = 0;
    00072     environment = 0;
    00073   }
    00074   OdeConfig odeConfig;
    00075   ConfigList configs;
    00076   ObstacleList obstacles;
    00077   OdeAgentList agents;
    00078   Primitive* environment; /// < this is used to be able to attach objects to the static environment
    00079   double time;
    00080 } GlobalData;
    00081
    00082 }
    00083
    00084 #endif