abstractobstacle.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *    frankguettler@gmx.de                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 *   $Log: abstractobstacle.h,v $
 *   Revision 1.11  2007/12/06 10:02:49  der
 *   abstractground: returns now cornerpoints
 *   abstractobstacle: is now trackable
 *   hudstatistics: supports now AbstractmMeasure
 *
 *   Revision 1.10  2007/03/16 11:01:37  martius
 *   abstractobstacle gets mor functionallity
 *   setSubstance
 *
 *   Revision 1.9  2006/07/14 12:23:32  martius
 *   selforg becomes HEAD
 *
 *   Revision 1.8.4.9  2006/06/29 16:39:55  robot3
 *   -you can now see bounding shapes if you type ./start -drawboundings
 *   -includes cleared up
 *   -abstractobstacle and abstractground have now .cpp-files
 *
 *   Revision 1.8.4.8  2006/06/16 22:27:26  martius
 *   getMainPrimtive
 *
 *   Revision 1.8.4.7  2006/05/23 13:38:02  robot3
 *   -fixed some creating bugs
 *   -setColor,setTexture and createGround must be
 *    called before setPosition now
 *
 *   Revision 1.8.4.6  2006/05/18 12:54:24  robot3
 *   -fixed not being able to change the color after positioning
 *    the obstacle
 *   -cleared the files up
 *
 *   Revision 1.8.4.5  2006/05/11 08:59:15  robot3
 *   -fixed a positioning bug (e.g. for passivesphere)
 *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
 *
 *   Revision 1.8.4.4  2006/03/30 12:34:51  martius
 *   documentation updated
 *
 *   Revision 1.8.4.3  2006/03/29 15:04:38  martius
 *   have pose now
 *
 *   Revision 1.8.4.2  2005/12/06 10:13:23  martius
 *   openscenegraph integration started
 *
 *   Revision 1.8.4.1  2005/11/14 17:37:14  martius
 *   moved to selforg
 *
 *   Revision 1.8  2005/10/25 19:26:56  fhesse
 *   comments adjusted and in doxygen style
 *
 *   Revision 1.7  2005/09/22 12:24:36  martius
 *   removed global variables
 *   OdeHandle and GlobalData are used instead
 *   sensor prepared
 *
 *   Revision 1.6  2005/09/13 13:20:12  martius
 *   initialised color
 *
 *   Revision 1.5  2005/08/29 06:32:25  martius
 *   added virtual destructor
 *
 *   Revision 1.4  2005/07/18 14:52:33  martius
 *   world and space are not pointers anymore.
 *
 *   Revision 1.3  2005/06/15 14:22:11  martius
 *   GPL included
 *                                                                 *
 ***************************************************************************/
#ifndef __ABSTRACTOBSTACLE_H
#define __ABSTRACTOBSTACLE_H

#include <ode/ode.h>

#include "odehandle.h"
#include "osghandle.h"
#include <osg/Matrix>

#include <vector>

class Position;
namespace matrix { class Matrix; }

namespace lpzrobots {

  class Primitive;

/**
 *  Abstract class (interface) for obstacles
 */
class AbstractObstacle{


 public:
  /**
   * Constructor
   * @param odeHandle containing ODE stuff like world, space and jointgroup
   * @param osgHandle containing OSG stuff like scene, color...
   * be used for creation of obstacles
   */
  AbstractObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle);

  virtual ~AbstractObstacle();
  
  /**
   * updates the position if the scenegraph nodes
   * the default implementation calls update on all primitive on "obst"
   */
  virtual void update();
  
  /**
   * sets position of the obstacle and creates/recreates obstacle if necessary
   */
  virtual void setPos(const osg::Vec3& pos);
  
    /**
   * sets position of the obstacle and creates/recreates obstacle if necessary
   */
  virtual void setPosition(const osg::Vec3& pos);

  /**
   * gives actual position of the obstacle
   */
  virtual osg::Vec3 getPos();

  /**
   * gives actual pose of the obstacle
   */
  virtual osg::Matrix getPose();

  /**
   * sets position of the obstacle and creates/recreates obstacle if necessary
   */
  virtual void setPose(const osg::Matrix& pose) = 0;

  /**
   * sets the obstacle color
   * @param color values in RGBA
   */
  virtual void setColor(const Color& color);

  /// return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
  virtual Primitive* getMainPrimitive() const = 0;

  /**
   * sets the substance of the obtactle. It is applied to all objects in obj
   * @param substance description of the substance
   */
  virtual void setSubstance(const Substance& substance);
  
   /*********** BEGIN TRACKABLE INTERFACE *******************/
  
   /** returns position of the object
  @return vector of position (x,y,z)
   */
  virtual Position getPosition() const;
  
  /** returns linear speed vector of the object
  @return vector  (vx,vy,vz)
   */
  virtual Position getSpeed() const;
  
  /** returns angular velocity vector of the object
  @return vector  (wx,wy,wz)
   */
  virtual Position getAngularSpeed() const;
  
  /** returns the orientation of the object
  @return 3x3 rotation matrix
   */
  virtual matrix::Matrix getOrientation() const;
  
  /*********** END TRACKABLE INTERFACE *******************/

 protected:
  std::vector<Primitive*> obst; ///< primitives which belong to this obstacle

  osg::Matrix pose;
  bool obstacle_exists;

  OdeHandle odeHandle;
  OsgHandle osgHandle; 

  /// is called to destroy the object. The default implementation is to delete all primitives in "obst". 
  virtual void destroy();

  /// overload this function to create the obstactle. All primitives should go into the list "obst"
  virtual void create()=0;

};

}

#endif

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