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

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# passivecapsule.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: passivecapsule.h,v $
    00024  *   Revision 1.2  2006/07/14 12:23:33  martius
    00025  *   selforg becomes HEAD
    00026  *
    00027  *   Revision 1.1.2.4  2006/06/16 22:27:26  martius
    00028  *   getMainPrimtive
    00029  *
    00030  *   Revision 1.1.2.3  2006/05/18 15:40:32  robot3
    00031  *   fixed setPose
    00032  *
    00033  *   Revision 1.1.2.2  2006/05/18 15:36:15  robot3
    00034  *   fixed compiling bug
    00035  *
    00036  *   Revision 1.1.2.1  2006/05/18 13:06:51  robot3
    00037  *   added a passive passive capsule
    00038  *
    00039  *
    00040  *                                                    *
    00041  *                                                                         *
    00042  ***************************************************************************/
    00043 #ifndef __PASSIVECAPSULE_H
    00044 #define __PASSIVECAPSULE_H
    00045
    00046 #include <stdio.h>
    00047 #include <math.h>
    00048
    00049 #include "primitive.h"
    00050 #include "abstractobstacle.h"
    00051
    00052 namespace lpzrobots {
    00053
    00054 /**
    00055  *  (Passive) capsule as obstacle
    00056  */
    00057 class PassiveCapsule : public AbstractObstacle{
    00058   float radius;
    00059   float height;
    00060   double mass;
    00061
    00062   Capsule* capsule;
    00063
    00064
    00065  public:
    00066
    00067   /**
    00068    * Constructor
    00069    */
    00070   PassiveCapsule(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00071                  float radius=1.0, float height=1.0, double mass = 1.0):
    00072     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), radius(radius), height(height), mass(mass) {
    00073     capsule=0;
    00074     obstacle_exists=false;
    00075   };
    00076
    00077   ~PassiveCapsule(){
    00078     if(capsule) delete capsule;
    00079   }
    00080
    00081   /**
    00082    * update position of box
    00083    */
    00084   virtual void update(){
    00085     if(capsule) capsule->update();
    00086   };
    00087
    00088   virtual void setTexture(const std::string& filename){
    00089     if(capsule) capsule->getOSGPrimitive()->setTexture(filename);
    00090   }
    00091
    00092   virtual void setPose(const osg::Matrix& pose){
    00093     this->pose = osg::Matrix::translate(0,0,height*0.5f+radius) * pose;
    00094     if (obstacle_exists){
    00095       destroy();
    00096     }
    00097     create();
    00098   };
    00099
    00100   virtual Primitive* getMainPrimitive() const { return capsule; }
    00101
    00102  protected:
    00103   virtual void create(){
    00104     capsule = new Capsule(radius,height);
    00105     capsule->init(odeHandle, mass, osgHandle);
    00106     osg::Vec3 pos=pose.getTrans();
    00107     capsule->setPosition(pos);
    00108
    00109     obstacle_exists=true;
    00110   };
    00111
    00112   virtual void destroy(){
    00113     if(capsule) delete capsule;
    00114     obstacle_exists=false;
    00115   };
    00116
    00117 };
    00118
    00119 }
    00120
    00121 #endif
    00122