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
1.3.8