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Model.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: Base class for all models * Author: Andrew Howard * Date: 8 May 2003 * CVS: $Id: Model.hh,v 1.29 2005/03/23 03:04:30 natepak Exp $ */ #ifndef MODEL_HH #define MODEL_HH #include <ode/ode.h> #include "Vector.hh" #include "GL/gl.h" // Forward declaraions class World; class WorldFile; class WorldFileNode; class Body; class Geom; class Joint; class HingeJoint; class Model { // Default constructor public: Model( World *world ); // Destructor public: virtual ~Model(); // Load the model public: virtual int Load( WorldFile *file, WorldFileNode *node ) = 0; // Initialize the model public: virtual int Init( WorldFile *file, WorldFileNode *node ) = 0; // Finalize the model public: virtual int Fini() = 0; // Update the model state public: virtual void Update( double step ) = 0; // Get the model pose (global frame) public: GzPose GetPose(); // Set the model pose (global frame) public: void SetPose( GzPose pose ); // Set our parent public: void SetParent(Model *parent, Body *parentBody); // Attach this model to another. public: void Attach(); // Detach this model from its parent. public: void Detach(); // Add a body to this model; exactly one body must be used as the // canonical body protected: void AddBody(Body *body, bool canonical = false); // Get the canonical body for this model (returns canonical body by // default) public: Body *GetBody(const char *bodyName = NULL); // Get the list of bodies public: int GetNumBodies() {return this->bodyCount;} public: Body **GetBodies() {return this->bodies;} // Set the id of the model public: void SetId(const char* id); // Get the id of the model public: const char* GetId() const {return this->id;} // Set the name of the model public: void SetName(const char *name); // Get the name of the model public: const char* GetName(); // Set the Pick id of the model public: void SetPickId( GLuint id ); // Get the Pick id of the model public: GLuint GetPickId() const {return this->pickId;} // The world public: World *world; // The node this was loaded from public: WorldFileNode *node; // Our parent model public: Model *parent; // Our parent body public: Body *parentBody; public: GzPose initPose; // The models id private: char *id; // The name of this model private: char *name; // Joint attaching us to parent body (for ODE bodies) public: HingeJoint *joint; // Pose relative to parent body (for dummy bodies) public: GzPose relPose; // Flag is true if this is a fixed object public: bool fixed; // The space for all the bodies in this model public: dSpaceID modelSpaceId; // A list of bodies making up this model private: int bodyCount, bodyMaxCount; private: Body **bodies; // The canonical body (reference for the model cs) private: Body *canonicalBody; // A list of joints making up this model private: int jointCount, jointMaxCount; private: Joint **joints; private: GLuint pickId; private: static GLuint pickIdMaster; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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