GroundPlane.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: Model for the ground plane 00022 * Author: Nate Koenig 00023 * Date: 07 July 2003 00024 * CVS: $Id: GroundPlane.hh,v 1.9 2004/05/26 21:29:48 natepak Exp $ 00025 */ 00026 00027 #ifndef GROUNDPLANE_HH 00028 #define GROUNDPLANE_HH 00029 00030 #include "Model.hh" 00031 00032 // Forward Declarations 00033 class PlaneGeom; 00034 00035 class GroundPlane : public Model 00036 { 00037 00038 // Constructor 00039 public: GroundPlane( World *world ); 00040 00041 // Destructor 00042 public: virtual ~GroundPlane(); 00043 00044 // Load the model 00045 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00046 00047 // Initialize the model 00048 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00049 00050 // Finalize the model 00051 public: virtual int Fini(); 00052 00053 // Update the model state 00054 public: virtual void Update( double step ); 00055 00056 // Bodies, geometry 00057 private: Body *body; 00058 private: PlaneGeom *planeGeom; 00059 }; 00060 00061 #endif 00062