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: odeconfig.h,v $ 00023 * Revision 1.14 2006/08/04 15:07:46 martius 00024 * documentation 00025 * 00026 * Revision 1.13 2006/07/14 11:57:23 martius 00027 * selforg becomes HEAD 00028 * 00029 * Revision 1.12.4.8 2006/06/29 16:32:44 robot3 00030 * implementation of odeconfig moved to odeconfig.cpp 00031 * 00032 * Revision 1.12.4.7 2006/05/08 12:12:36 robot3 00033 * changes from Revision 1.40.4.27 reverted 00034 * 00035 * Revision 1.12.4.6 2006/04/27 16:17:38 robot3 00036 * implemented some functions for motionblurcallback 00037 * 00038 * Revision 1.12.4.5 2006/03/28 09:55:12 robot3 00039 * -main: fixed snake explosion bug 00040 * -odeconfig.h: inserted cameraspeed 00041 * -camermanipulator.cpp: fixed setbyMatrix, 00042 * updateFactor 00043 * 00044 * Revision 1.12.4.4 2006/02/08 16:14:28 martius 00045 * no namespace using 00046 * 00047 * Revision 1.12.4.3 2006/01/10 15:08:15 martius 00048 * controlinterval is 1 by default 00049 * 00050 * Revision 1.12.4.2 2005/12/06 10:13:23 martius 00051 * openscenegraph integration started 00052 * 00053 * Revision 1.12.4.1 2005/11/14 17:37:00 martius 00054 * changed makefile structure to have and include directory 00055 * mode to selforg 00056 * 00057 * Revision 1.12 2005/11/09 13:29:19 martius 00058 * GPL'ised 00059 * 00060 ***************************************************************************/ 00061 #ifndef __ODECONFIG_H 00062 #define __ODECONFIG_H 00063 00064 #include <selforg/configurable.h> 00065 #include "odehandle.h" 00066 00067 namespace lpzrobots { 00068 00069 /** 00070 The class $name holds the configurable parameters of the simulation environment. 00071 */ 00072 class OdeConfig : public Configurable { 00073 public: 00074 00075 // creates new instance of OdeConfig with default values 00076 OdeConfig(); 00077 00078 ~OdeConfig() {} 00079 00080 virtual paramkey getName() const; 00081 00082 virtual paramlist getParamList() const; 00083 00084 virtual paramval getParam(const paramkey& key) const; 00085 00086 virtual bool setParam(const paramkey& key, paramval val); 00087 00088 virtual void setOdeHandle(const OdeHandle& odeHandle); 00089 00090 virtual void setVideoRecordingMode(bool mode); 00091 00092 private: 00093 /// calculates the draw interval with simStepSize and realTimeFactor so that we have 25 frames/sec 00094 virtual int calcDrawInterval25(); 00095 00096 /// calculates the draw interval with simStepSize and realTimeFactor so that we have 50 frames/sec 00097 /// this is much better for graphical visualization (smoother) 00098 virtual int calcDrawInterval50(); 00099 00100 00101 public: 00102 bool videoRecordingMode; 00103 double simStepSize; 00104 double realTimeFactor; 00105 int drawInterval; 00106 int controlInterval; 00107 double motionPersistence; 00108 double noise; 00109 double gravity; 00110 double cameraSpeed; 00111 bool drawBoundings; 00112 std::string name; 00113 OdeHandle odeHandle; 00114 }; 00115 00116 } 00117 00118 #endif
1.3.8