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

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# straightline.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: straightline.h,v $
    00024  *   Revision 1.4  2005/12/12 13:44:41  martius
    00025  *   barcodesensor is working
    00026  *
    00027  *   Revision 1.3  2005/12/03 16:57:12  martius
    00028  *   setWidth is void
    00029  *
    00030  *   Revision 1.2  2005/11/22 15:51:23  robot3
    00031  *   testing
    00032  *
    00033  *   Revision 1.1  2005/11/15 14:29:25  robot3
    00034  *   first version
    00035  *
    00036  *                                                                         *
    00037  ***************************************************************************/
    00038 #ifndef __STRAIGHTLINE_H
    00039 #define __STRAIGHTLINE_H
    00040
    00041 #include "abstracttracksection.h"
    00042
    00043 /**
    00044  *  Abstract class (interface) for obstacles
    00045  */
    00046 class StraightLine : public AbstractTrackSection {
    00047
    00048 public:
    00049
    00050   /**
    00051    * Constructor
    00052    */
    00053   StraightLine(const Position& p,const double& angle);
    00054
    00055   /**
    00056    * Constructor
    00057    */
    00058   StraightLine(const Matrix& pose);
    00059
    00060   virtual ~StraightLine(){}
    00061
    00062   void setCurveAngle(double alpha);
    00063
    00064   /**
    00065    * gives the position and rotation(angle) of the segment at the
    00066    * end of the segment so that a new segment could be placed there
    00067    * if you want to place the new segment, you must muliplicate:
    00068    * getTransformedEndMatrix()*getPositionMatrix();
    00069    */
    00070   virtual Matrix getTransformedEndMatrix();
    00071
    00072
    00073   /**
    00074    * returns true if the real coordinates lay inside of the segment
    00075    */
    00076   virtual bool isInside(const Position& p);
    00077
    00078
    00079   virtual double getSectionIdValue(const Position& p);
    00080
    00081   virtual double getWidthIdValue(const Position& p);
    00082
    00083
    00084   /**
    00085    * returns the length of the segment,
    00086    * here it is the length of the arc
    00087    * formula is: radius * angle;
    00088    */
    00089   virtual double getLength();
    00090
    00091   /**
    00092    * returns the width of the segment,
    00093    */
    00094   virtual double getWidth();
    00095
    00096   /**
    00097    * sets the width of the segment,
    00098    */
    00099   virtual void setWidth(double w);
    00100
    00101
    00102   /**
    00103    * draws the obstacle (4 boxes for the playground)
    00104    */
    00105   virtual void draw();
    00106
    00107   virtual void create(dSpaceID space);
    00108
    00109   virtual void destroy();
    00110
    00111 protected:
    00112   // this is the length of the segment
    00113   double length;
    00114   // this is the width of the segment
    00115   // normally it should be the same like alle the other segments
    00116   double width;
    00117   dGeomID wallLeft; // the wall left to the street
    00118   dGeomID wallRight; // the wall right to the street
    00119   double widthWall;
    00120   double heightWall;
    00121   // angle is for straightline 0
    00122   double angle;
    00123   // determines if the curve goes right or left
    00124   double isLeft;
    00125
    00126   bool obstacle_exists;
    00127
    00128   /**
    00129    * obstacle color
    00130    */
    00131   Color color;
    00132
    00133   void setProperties();
    00134 };
    00135
    00136 #endif