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DummyObstacle.h
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1 /***************************************************************************
2  * Copyright (C) 2005-2011 LpzRobots development team *
3  * Georg Martius <georg dot martius at web dot de> *
4  * Frank Guettler <guettler at informatik dot uni-leipzig dot de *
5  * Frank Hesse <frank at nld dot ds dot mpg dot de> *
6  * Ralf Der <ralfder at mis dot mpg dot de> *
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24 #ifndef __DUMMYOBSTACLE_H_
25 #define __DUMMYOBSTACLE_H_
26 
27 #include "abstractobstacle.h"
28 
29 namespace lpzrobots {
30 
31  /**
32  * DummyObstacle which holds a DummyPrimitive (so getMainPrimitive() works).
33  */
35  public:
37  virtual ~DummyObstacle();
38 
39  /**
40  * sets position of the obstacle and creates/recreates obstacle if necessary
41  */
42  virtual void setPose(const osg::Matrix& pose);
43 
44  /// return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
45  virtual Primitive* getMainPrimitive() const;
46 
47  protected:
48  /// overload this function to create the obstactle. All primitives should go into the list "obst"
49  virtual void create();
50  };
51 
52 }
53 
54 #endif /* __DUMMYOBSTACLE_H_ */
Data structure for accessing the ODE.
Definition: odehandle.h:44
OsgHandle osgHandle
Definition: abstractobstacle.h:174
DummyObstacle which holds a DummyPrimitive (so getMainPrimitive() works).
Definition: DummyObstacle.h:34
Abstract class (interface) for obstacles.
Definition: abstractobstacle.h:46
DummyObstacle(const OdeHandle &odeHandle, const OsgHandle &osgHandle)
Definition: DummyObstacle.cpp:30
Matrixd Matrix
Definition: osgforwarddecl.h:47
OdeHandle odeHandle
Definition: abstractobstacle.h:173
Data structure for accessing the OpenSceneGraph.
Definition: osghandle.h:79
Interface class for primitives represented in the physical and graphical world.
Definition: primitive.h:80
virtual void setPose(const osg::Matrix &pose)
sets position of the obstacle and creates/recreates obstacle if necessary
Definition: DummyObstacle.cpp:37
osg::Matrix pose
Definition: abstractobstacle.h:170
virtual Primitive * getMainPrimitive() const
return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
Definition: DummyObstacle.cpp:41
virtual void create()
overload this function to create the obstactle. All primitives should go into the list "obst" ...
Definition: DummyObstacle.cpp:46
virtual ~DummyObstacle()
Definition: DummyObstacle.cpp:34