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BaseGeom.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: Base class for all geometries 00022 * Author: Nate Keonig, Andrew Howard 00023 * Date: 8 May 2003 00024 * CVS: $Id: BaseGeom.hh,v 1.13 2005/05/06 17:18:55 natepak Exp $ 00025 */ 00026 00027 #ifndef BASEGEOM_HH 00028 #define BASEGEOM_HH 00029 00030 #include <ode/ode.h> 00031 #include "Vector.hh" 00032 00033 class Body; 00034 class ContactParams; 00035 00036 00042 class BaseGeom 00043 { 00044 // Constructor 00045 public: BaseGeom( dSpaceID spaceId ); 00046 00047 // Destructor 00048 public: virtual ~BaseGeom(); 00049 00051 public: void SetGeom( Body *body, dGeomID geomId, dMass *mass, bool placeable); 00052 00053 // Set the extra rotation of the encapsulated object (called in constructor) 00054 protected: void SetExtraRotation( GzQuatern rot ); 00055 00056 // Get the geometry id 00057 public: dGeomID GetTransId() const; 00058 public: dGeomID GetGeomId() const; 00059 00060 // Set the geometry category bitfield 00061 public: void SetCategoryBits( uint bits ); 00062 00063 // Set the geometry collision bitfield 00064 public: void SetCollideBits( uint bits ); 00065 00067 public: virtual void SetRelativePose( GzPose pose, bool updateCoM = true ); 00068 00070 public: virtual GzPose GetRelativePose() const; 00071 00073 public: GzPose GetPose() const; 00074 00076 public: void SetRelativePosition( GzVector pos ); 00077 00079 public: void SetRelativeRotation( GzQuatern rot ); 00080 00084 public: void SetHardness( double kp, double kd ); 00085 00089 public: void SetFriction( double mu1, double mu2 ); 00090 00091 // Set Contact params 00092 public: void SetBounce( double bounce ); 00093 public: void SetSlip1( double slip ); 00094 public: void SetSlip2( double slip ); 00095 00096 // Get Contact params 00097 public: double GetBounce() const; 00098 public: double GetSlip1() const; 00099 public: double GetSlip2() const; 00100 00101 // Set the mass of the object 00102 public: void SetMass( double m ); 00103 00104 // Get the mass matrix (body-centered coords) 00105 public: const dMass *GetBodyMassMatrix(); 00106 00107 // The body we are attached to 00108 public: Body *body; 00109 00110 // ODE space this geom belongs go 00111 protected: dSpaceID spaceId; 00112 00113 // Id for the geometry and the transform 00114 protected: dGeomID transId, geomId; 00115 00116 // Mass matrix relative to geometry and relative to body 00117 protected: dMass geomMass, bodyMass; 00118 00119 // Is this geom placable? 00120 public: bool placeableGeom; 00121 00122 // Global pose if the geom is not placeable 00123 private: GzPose dummyPose; 00124 00125 // Hacky extra rotation to make ODE and Gazebo primitives have 00126 // matching orientations 00127 private: GzQuatern extraRotation; 00128 00129 // Contact joint parameters 00130 protected: ContactParams *contact; 00131 00132 // Wart 00133 friend class World; 00134 }; 00135 00136 #endif 00137
