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# abstracttracksection.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: abstracttracksection.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 __ABSTRACTTRACKSECTION_H
    00039 #define __ABSTRACTTRACKSECTION_H
    00040
    00041 #include "matrix.h"
    00042 using namespace matrix;
    00043 #include "position.h"
    00044 #include <drawstuff/drawstuff.h>
    00045 #include "simulation.h"
    00046 #include "mathutils.h"
    00047
    00048 /**
    00049  *  Abstract class (interface) for obstacles
    00050  */
    00051 class AbstractTrackSection{
    00052
    00053  public:
    00054   /**
    00055    * Constructor, segment is initialized with Position (0,0,0)
    00056    * and a rotation angle=0
    00057    */
    00058   //  AbstractTrackSection() {};
    00059
    00060   /**
    00061    * Constructor where you can set the position and rotation by:
    00062    @param Position& p is the position of the segment
    00063    @param double angle is the rotation of the segment
    00064    */
    00065   AbstractTrackSection(const Position& p,const double angle) {
    00066     setPoseMatrix(getTranslationRotationMatrix(p, angle));
    00067   };
    00068
    00069   /**
    00070    * Constructor where you can set the pos-matrix by this constructor:
    00071    @param Matrix& position is the position AND rotation of the segment
    00072    */
    00073   AbstractTrackSection(const Matrix& pose){
    00074     setPoseMatrix(pose);
    00075   };
    00076
    00077   virtual ~AbstractTrackSection(){}
    00078
    00079
    00080   virtual void create(dSpaceID space) = 0;
    00081
    00082   virtual void destroy() = 0;
    00083
    00084   virtual void draw() = 0;
    00085
    00086   /**
    00087    * gives the position and rotation(angle) of the segment at the
    00088    * end of the segment so that a new segment could be placed there
    00089    * the result is a matrix
    00090    */
    00091   virtual Matrix getTransformedEndMatrix() = 0;
    00092
    00093   /**
    00094    * returns true if the real coordinates lay inside of the segment
    00095    */
    00096   virtual bool isInside(const Position& p) = 0;
    00097
    00098   /**
    00099  * returns a value between 0 and length that tells at which section
    00100  * you are on the segment.
    00101  * returns -1 if no IdValue can be given
    00102  */
    00103   virtual double getSectionIdValue(const Position& p)=0;
    00104
    00105
    00106 /**
    00107  * returns a value between 0 and width that tells at which width
    00108  * you are on the segment, 0 means right and width means left.
    00109  * returns -1 if no WidthValue can be given
    00110  */
    00111 virtual double getWidthIdValue(const Position& p)=0;
    00112
    00113
    00114
    00115 /**
    00116  * returns the length of the segment,
    00117  * here it is the length of the arc
    00118  * formula is: radius * angle;
    00119  */
    00120  virtual double getLength()=0;
    00121
    00122
    00123 /**
    00124  * returns the width of the segment,
    00125  */
    00126  virtual double getWidth()=0;
    00127
    00128 /**
    00129  * sets the width of the segment,
    00130  */
    00131  virtual void setWidth(double w)=0;
    00132
    00133   Matrix getPoseMatrix(){
    00134     return pos;
    00135   }
    00136
    00137   Position transformToLocalCoord(const Position& p){
    00138     return getPosition4x1(invpos*getPositionMatrix(p));
    00139   }
    00140
    00141   Position transformToGlobalCoord(const Position& p){
    00142     return getPosition4x1(pos*getPositionMatrix(p));
    00143   }
    00144
    00145   Matrix getInversePoseMatrix(){
    00146     return invpos;
    00147   }
    00148
    00149 protected:
    00150
    00151   void setPoseMatrix(const Matrix& m){
    00152     pos = m;
    00153     invpos = invert_4x4PoseMatrix(m);
    00154   }
    00155   /**
    00156    * gives actual position of the obstacle
    00157    */
    00158   Position getPosition(){
    00159     return ::getPosition(pos);
    00160   }
    00161
    00162 private:
    00163   // saves the actual position AND rotation of the segment
    00164   Matrix pos;
    00165   Matrix invpos;
    00166 };
    00167
    00168 #endif