RayGeom.hh

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: A ray
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: RayGeom.hh 4402 2008-03-09 14:39:27Z robotos $
00025  */
00026 
00027 #ifndef RAYGEOM_HH
00028 #define RAYGEOM_HH
00029 
00030 #include "Geom.hh"
00031 
00032 namespace gazebo
00033 {
00034   class OgreDynamicLines;
00035   class OgreVisual;
00036 
00039 
00044 
00045 
00046 
00047 
00049   class RayGeom : public Geom
00050   {
00054     public: RayGeom( Body *body, bool displayRays );
00055   
00057     public: virtual ~RayGeom();
00058   
00062     public: void SetPoints(const Vector3 &posStart, const Vector3 &posEnd);
00063   
00067     public: void GetRelativePoints(Vector3 &posA, Vector3 &posB);
00068   
00072     public: void GetGlobalPoints(Vector3 &posA, Vector3 &posB);
00073   
00076     public: void SetLength( double len );
00077   
00079     public: double GetLength() const;
00080   
00082     public: void Update();
00083   
00085     public: void SetRetro( float retro );
00086   
00088     public: float GetRetro() const;
00089   
00091     public: void SetFiducial( int fid );
00092   
00094     public: int GetFiducial() const;
00095 
00097     protected: virtual void LoadChild(XMLConfigNode *node);
00098 
00101     private: double contactLen;
00102     private: double contactRetro;
00103     private: int contactFiducial;
00104   
00105     private: OgreDynamicLines *line;
00106   
00108     private: Vector3 relativeStartPos;
00109     private: Vector3 relativeEndPos;
00110   
00112     private: Vector3 globalStartPos;
00113     private: Vector3 globalEndPos;
00114 
00115     private: OgreVisual *visual;
00116   
00117   };
00118   
00120 }
00121 
00122 #endif
Last updated Aug 04 2007