DummyObstacle.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  *    guettler@informatik.uni-leipzig.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  *                                                                         *
00024  *  DESCRIPTION                                                            *
00025  *  
00026  *                                                                         *
00027  *                                                                         *
00028  *  $Log: DummyObstacle.h,v $
00029  *  Revision 1.2  2009/11/12 16:06:44  guettler
00030  *  header guard corrected
00031  *
00032  *  Revision 1.1  2009/11/12 16:05:11  guettler
00033  *  new DummyObstacle which uses a DummyPrimitive
00034  *                                                                                 *
00035  *                                                                         *
00036  **************************************************************************/
00037 #ifndef __DUMMYOBSTACLE_H_
00038 #define __DUMMYOBSTACLE_H_
00039 
00040 #include "abstractobstacle.h"
00041 
00042 namespace lpzrobots {
00043 
00044   /**
00045    * DummyObstacle which holds a DummyPrimitive (so getMainPrimitive() works).
00046    */
00047   class DummyObstacle : public lpzrobots::AbstractObstacle {
00048     public:
00049       DummyObstacle(const OdeHandle& odeHandle, const OsgHandle& osgHandle);
00050       virtual ~DummyObstacle();
00051 
00052       /**
00053        * sets position of the obstacle and creates/recreates obstacle if necessary
00054        */
00055       virtual void setPose(const osg::Matrix& pose);
00056 
00057       /// return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
00058       virtual Primitive* getMainPrimitive() const;
00059 
00060     protected:
00061       /// overload this function to create the obstactle. All primitives should go into the list "obst"
00062       virtual void create();
00063   };
00064 
00065 }
00066 
00067 #endif /* __DUMMYOBSTACLE_H_ */
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