passivesphere.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  *                                                                         *
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: passivesphere.h,v $
00023  *   Revision 1.1.2.7  2006/03/31 09:59:23  fhesse
00024  *   in create: z+=radius; added to place sphere on ground
00025  *
00026  *   Revision 1.1.2.6  2006/03/30 12:34:51  martius
00027  *   documentation updated
00028  *
00029  *   Revision 1.1.2.5  2006/03/29 15:04:39  martius
00030  *   have pose now
00031  *
00032  *   Revision 1.1.2.4  2006/01/18 16:46:39  martius
00033  *   mass adjustable
00034  *
00035  *   Revision 1.1.2.3  2005/12/15 17:02:16  martius
00036  *   *** empty log message ***
00037  *
00038  *   Revision 1.1.2.2  2005/12/11 23:35:07  martius
00039  *   *** empty log message ***
00040  *
00041  *   Revision 1.1.2.1  2005/12/09 16:53:17  martius
00042  *   camera is working now
00043  *
00044  *   Revision 1.5  2005/10/25 19:26:57  fhesse
00045  *   comments adjusted and in doxygen style
00046  *
00047  *   Revision 1.4  2005/09/22 12:24:36  martius
00048  *   removed global variables
00049  *   OdeHandle and GlobalData are used instead
00050  *   sensor prepared
00051  *
00052  *   Revision 1.3  2005/07/31 22:30:56  martius
00053  *   textures
00054  *
00055  *   Revision 1.2  2005/07/18 14:52:33  martius
00056  *   world and space are not pointers anymore.
00057  *
00058  *   Revision 1.1  2005/07/08 10:00:33  fhesse
00059  *   initial version
00060  *                                                    *
00061  *                                                                         *
00062  ***************************************************************************/
00063 #ifndef __PASSIVESPHERE_H
00064 #define __PASSIVESPHERE_H
00065 
00066 #include <stdio.h>
00067 #include <math.h>
00068 
00069 #include "primitive.h"
00070 #include "abstractobstacle.h"
00071 
00072 namespace lpzrobots {
00073 
00074 /**
00075  *  (Passive) sphere as obstacle
00076  */
00077 class PassiveSphere : public AbstractObstacle{
00078   double radius;
00079   double mass;
00080   /**
00081    * initial coordinates
00082    */
00083   osg::Vec3 pos;
00084   int texture;
00085 
00086   Sphere* sphere;
00087 
00088   bool obstacle_exists;
00089 
00090  public:
00091   
00092   /**
00093    * Constructor
00094    */
00095   PassiveSphere(const OdeHandle& odeHandle, const OsgHandle& osgHandle, double radius = 0.3, double mass = 1.0):
00096     AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), radius(radius), mass(mass) {       
00097     sphere=0;
00098     obstacle_exists=false;    
00099   };
00100 
00101   ~PassiveSphere(){
00102     if(sphere) delete sphere;
00103   }
00104 
00105   /**
00106    * update position of sphere
00107    */
00108   virtual void update(){
00109     if(sphere) sphere->update();
00110   };
00111 
00112   virtual void setTexture(const std::string& filename){
00113     if(sphere) sphere->getOSGPrimitive()->setTexture(filename);
00114   }
00115   
00116   virtual void setPose(const osg::Matrix& pose){
00117     this->pose = osg::Matrix::translate(0,0,radius) * pose;
00118     if (obstacle_exists){
00119       destroy();
00120     }
00121     create();
00122   };
00123 
00124   virtual osg::Matrix getPose(){
00125     return pose;
00126   }
00127   
00128  protected:
00129   virtual void create(){
00130     sphere = new Sphere(radius);
00131     sphere->init(odeHandle, mass, osgHandle);
00132     pos[2]+=radius;
00133     sphere->setPosition(pos);
00134         
00135     obstacle_exists=true;
00136   };
00137 
00138 
00139   virtual void destroy(){
00140     if(sphere) delete sphere;    
00141     obstacle_exists=false;
00142   };
00143 
00144 };
00145 
00146 }
00147 
00148 #endif

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