abstractground.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: abstractground.h,v $
00024  *   Revision 1.12  2010/03/29 16:28:21  martius
00025  *   abstract ground rembers groundsubstance
00026  *   comments and typos
00027  *   osgprimitive uses white for empty texture
00028  *
00029  *   Revision 1.11  2009/04/02 10:12:25  martius
00030  *   Texture handling changed
00031  *
00032  *   Revision 1.10  2008/04/17 15:59:00  martius
00033  *   OSG2 port finished
00034  *
00035  *   Revision 1.9.2.1  2008/04/15 16:21:52  martius
00036  *   Profiling
00037  *   Multithreading also for OSG and ODE but disables because of instabilities
00038  *
00039  *   Revision 1.9  2007/12/06 10:02:49  der
00040  *   abstractground: returns now cornerpoints
00041  *   abstractobstacle: is now trackable
00042  *   hudstatistics: supports now AbstractmMeasure
00043  *
00044  *   Revision 1.8  2007/09/06 18:46:41  martius
00045  *   printContours
00046  *
00047  *   Revision 1.7  2007/08/24 11:53:10  martius
00048  *   Change geometry
00049  *
00050  *   Revision 1.6  2007/07/03 13:06:41  martius
00051  *   groundplane thick
00052  *
00053  *   Revision 1.5  2007/04/05 15:10:14  martius
00054  *   extra ground substance
00055  *
00056  *   Revision 1.4  2007/03/16 11:01:37  martius
00057  *   abstractobstacle gets mor functionallity
00058  *   setSubstance
00059  *
00060  *   Revision 1.3  2006/08/11 15:41:04  martius
00061  *   playgrounds handle non-quadratic ground planes
00062  *
00063  *   Revision 1.2  2006/07/14 12:23:32  martius
00064  *   selforg becomes HEAD
00065  *
00066  *   Revision 1.1.2.9  2006/07/14 11:36:32  martius
00067  *   revert to older revision of robot3
00068  *
00069  *   Revision 1.1.2.8  2006/07/13 12:11:26  robot5
00070  *   Using overhauled primitives Plane and Box.
00071  *   Repeat texturing is supported by them now.
00072  *
00073  *   Revision 1.1.2.7  2006/06/29 16:39:55  robot3
00074  *   -you can now see bounding shapes if you type ./start -drawboundings
00075  *   -includes cleared up
00076  *   -abstractobstacle and abstractground have now .cpp-files
00077  *
00078  *   Revision 1.1.2.6  2006/06/26 08:25:03  robot3
00079  *   fixed ground texture bug
00080  *
00081  *   Revision 1.1.2.5  2006/06/22 12:25:45  der
00082  *   added setGroundTexture and setGroundColor
00083  *
00084  *   Revision 1.1.2.4  2006/06/16 22:27:26  martius
00085  *   getMainPrimtive
00086  *
00087  *   Revision 1.1.2.3  2006/05/23 14:13:41  der
00088  *   fixed initialization bug
00089  *
00090  *   Revision 1.1.2.2  2006/05/23 13:37:45  robot3
00091  *   -fixed some creating bugs
00092  *   -setColor,setTexture and createGround must be
00093  *    called before setPosition now
00094  *
00095  *   Revision 1.1.2.1  2006/05/19 08:41:27  robot3
00096  *   Class AbstractGround contains now basic routines like
00097  *   creating the groundPlane, setPose and so on
00098  *
00099  *                                                                         *
00100  *                                                                         *
00101  ***************************************************************************/
00102 #ifndef __ABSTRACTGROUND_H
00103 #define __ABSTRACTGROUND_H
00104 
00105 #include <list>
00106 #include "abstractobstacle.h"
00107 #include <selforg/position.h>
00108 
00109 namespace lpzrobots {
00110 
00111   class Primitive; 
00112 
00113   // abstract class for any playground
00114   class AbstractGround : public AbstractObstacle {
00115 
00116 public:
00117 
00118     AbstractGround(const OdeHandle& odeHandle, const OsgHandle& osgHandle, 
00119                    bool createGround, double groundLength, double groundWidth, double wallThickness);
00120 
00121     virtual ~AbstractGround();
00122 
00123 
00124     virtual void setPose(const osg::Matrix& pose);
00125 
00126     virtual void createGround(bool create);
00127 
00128     /// sets texture of walls. Attention, repeats are so far ignored
00129     virtual void setTexture(const std::string& filename, double repeatOnX=1, double repeatOnY=1);
00130 
00131     virtual Primitive* getMainPrimitive() const;
00132 
00133     virtual void changeGeometry(double length, double width, double height, double factorxy);
00134     
00135     /// prints the contour of the boxes into the file
00136     virtual void printContours(FILE* f);
00137 
00138     /**
00139      * assigns the texture to the object
00140      */
00141     virtual void setGroundTexture(const std::string& filename);
00142 
00143     /**
00144      * sets the ground color
00145      * should be called before setPosition()
00146      * @param color values in RGBA
00147      */
00148     virtual void setGroundColor(const Color& color);
00149 
00150     /**
00151      * sets the substance of the ground. 
00152      * @param substance description of the substance
00153      */
00154     virtual void setGroundSubstance(const Substance& substance);
00155     
00156     
00157     /**
00158      * returns the corner points of the groundplane
00159      * @return list of the cornerpoints
00160      */
00161     virtual std::list<Position> getCornerPointsXY();
00162 
00163 
00164 
00165   protected:
00166 
00167     Primitive* groundPlane; // the groundplane
00168     bool creategroundPlane;
00169     double groundLength;
00170     double groundWidth;
00171     double wallThickness;
00172     Substance groundSubstance;
00173     std::string wallTextureFileName;
00174     Color groundColor;
00175     std::string groundTextureFileName;
00176 
00177     virtual void createGround();
00178 
00179   };
00180 
00181 }
00182 
00183 #endif
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