abstractobstacle.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  *    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: abstractobstacle.h,v $
00024  *   Revision 1.13  2010/03/09 11:53:41  martius
00025  *   renamed globally ode to ode-dbl
00026  *
00027  *   Revision 1.12  2009/04/02 10:12:25  martius
00028  *   Texture handling changed
00029  *
00030  *   Revision 1.11  2007/12/06 10:02:49  der
00031  *   abstractground: returns now cornerpoints
00032  *   abstractobstacle: is now trackable
00033  *   hudstatistics: supports now AbstractmMeasure
00034  *
00035  *   Revision 1.10  2007/03/16 11:01:37  martius
00036  *   abstractobstacle gets mor functionallity
00037  *   setSubstance
00038  *
00039  *   Revision 1.9  2006/07/14 12:23:32  martius
00040  *   selforg becomes HEAD
00041  *
00042  *   Revision 1.8.4.9  2006/06/29 16:39:55  robot3
00043  *   -you can now see bounding shapes if you type ./start -drawboundings
00044  *   -includes cleared up
00045  *   -abstractobstacle and abstractground have now .cpp-files
00046  *
00047  *   Revision 1.8.4.8  2006/06/16 22:27:26  martius
00048  *   getMainPrimtive
00049  *
00050  *   Revision 1.8.4.7  2006/05/23 13:38:02  robot3
00051  *   -fixed some creating bugs
00052  *   -setColor,setTexture and createGround must be
00053  *    called before setPosition now
00054  *
00055  *   Revision 1.8.4.6  2006/05/18 12:54:24  robot3
00056  *   -fixed not being able to change the color after positioning
00057  *    the obstacle
00058  *   -cleared the files up
00059  *
00060  *   Revision 1.8.4.5  2006/05/11 08:59:15  robot3
00061  *   -fixed a positioning bug (e.g. for passivesphere)
00062  *   -some methods moved to abstractobstacle.h for avoiding inconsistencies
00063  *
00064  *   Revision 1.8.4.4  2006/03/30 12:34:51  martius
00065  *   documentation updated
00066  *
00067  *   Revision 1.8.4.3  2006/03/29 15:04:38  martius
00068  *   have pose now
00069  *
00070  *   Revision 1.8.4.2  2005/12/06 10:13:23  martius
00071  *   openscenegraph integration started
00072  *
00073  *   Revision 1.8.4.1  2005/11/14 17:37:14  martius
00074  *   moved to selforg
00075  *
00076  *   Revision 1.8  2005/10/25 19:26:56  fhesse
00077  *   comments adjusted and in doxygen style
00078  *
00079  *   Revision 1.7  2005/09/22 12:24:36  martius
00080  *   removed global variables
00081  *   OdeHandle and GlobalData are used instead
00082  *   sensor prepared
00083  *
00084  *   Revision 1.6  2005/09/13 13:20:12  martius
00085  *   initialised color
00086  *
00087  *   Revision 1.5  2005/08/29 06:32:25  martius
00088  *   added virtual destructor
00089  *
00090  *   Revision 1.4  2005/07/18 14:52:33  martius
00091  *   world and space are not pointers anymore.
00092  *
00093  *   Revision 1.3  2005/06/15 14:22:11  martius
00094  *   GPL included
00095  *                                                                 *
00096  ***************************************************************************/
00097 #ifndef __ABSTRACTOBSTACLE_H
00098 #define __ABSTRACTOBSTACLE_H
00099 
00100 #include <ode-dbl/ode.h>
00101 
00102 #include "odehandle.h"
00103 #include "osghandle.h"
00104 #include <osg/Matrix>
00105 
00106 #include <vector>
00107 
00108 class Position;
00109 namespace matrix { class Matrix; }
00110 
00111 namespace lpzrobots {
00112 
00113   class Primitive;
00114 
00115 /**
00116  *  Abstract class (interface) for obstacles
00117  */
00118 class AbstractObstacle{
00119 
00120 
00121  public:
00122   /**
00123    * Constructor
00124    * @param odeHandle containing ODE stuff like world, space and jointgroup
00125    * @param osgHandle containing OSG stuff like scene, color...
00126    * be used for creation of obstacles
00127    */
00128   AbstractObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle);
00129 
00130   virtual ~AbstractObstacle();
00131   
00132   /**
00133    * updates the position if the scenegraph nodes
00134    * the default implementation calls update on all primitive on "obst"
00135    */
00136   virtual void update();
00137   
00138   /**
00139    * sets position of the obstacle and creates/recreates obstacle if necessary
00140    */
00141   virtual void setPos(const osg::Vec3& pos);
00142   
00143     /**
00144    * sets position of the obstacle and creates/recreates obstacle if necessary
00145    */
00146   virtual void setPosition(const osg::Vec3& pos);
00147 
00148   /**
00149    * gives actual position of the obstacle
00150    */
00151   virtual osg::Vec3 getPos();
00152 
00153   /**
00154    * gives actual pose of the obstacle
00155    */
00156   virtual osg::Matrix getPose();
00157 
00158   /**
00159    * sets position of the obstacle and creates/recreates obstacle if necessary
00160    */
00161   virtual void setPose(const osg::Matrix& pose) = 0;
00162 
00163   /**
00164    * sets the obstacle color
00165    * @param color values in RGBA
00166    */
00167   virtual void setColor(const Color& color);
00168 
00169   /** assigns a texture to the all primitives of this obstactle
00170       @see Primitive::setTexture()
00171   */
00172   virtual void setTexture(const std::string& filename, double repeatOnX=1, double repeatOnY=1);
00173   /** assigns a texture to the x-th surface of each primitive, 
00174       @see Primitive::setTexture()
00175   */
00176   virtual void setTexture(int surface, const std::string& filename, double repeatOnX, double repeatOnY);
00177 
00178   /// return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
00179   virtual Primitive* getMainPrimitive() const = 0;
00180 
00181   /**
00182    * sets the substance of the obtactle. It is applied to all objects in obj
00183    * @param substance description of the substance
00184    */
00185   virtual void setSubstance(const Substance& substance);
00186   
00187    /*********** BEGIN TRACKABLE INTERFACE *******************/
00188   
00189    /** returns position of the object
00190   @return vector of position (x,y,z)
00191    */
00192   virtual Position getPosition() const;
00193   
00194   /** returns linear speed vector of the object
00195   @return vector  (vx,vy,vz)
00196    */
00197   virtual Position getSpeed() const;
00198   
00199   /** returns angular velocity vector of the object
00200   @return vector  (wx,wy,wz)
00201    */
00202   virtual Position getAngularSpeed() const;
00203   
00204   /** returns the orientation of the object
00205   @return 3x3 rotation matrix
00206    */
00207   virtual matrix::Matrix getOrientation() const;
00208   
00209   /*********** END TRACKABLE INTERFACE *******************/
00210 
00211  protected:
00212   std::vector<Primitive*> obst; ///< primitives which belong to this obstacle
00213 
00214   osg::Matrix pose;
00215   bool obstacle_exists;
00216 
00217   OdeHandle odeHandle;
00218   OsgHandle osgHandle; 
00219 
00220   /// is called to destroy the object. The default implementation is to delete all primitives in "obst". 
00221   virtual void destroy();
00222 
00223   /// overload this function to create the obstactle. All primitives should go into the list "obst"
00224   virtual void create()=0;
00225 
00226 };
00227 
00228 }
00229 
00230 #endif
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