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RayGeom.hh

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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,v 1.17 2004/12/07 00:15:06 natepak Exp $
00025  */
00026 
00027 #ifndef RAYGEOM_HH
00028 #define RAYGEOM_HH
00029 
00030 #include "Geom.hh"
00031 
00032 
00033 class RayGeom : public Geom
00034 {
00035   // Constructor
00036   public: RayGeom( Body *body, const dSpaceID space );
00037 
00038   // Destructor
00039   public: virtual ~RayGeom();
00040 
00041   // Set object pose (relative to body)
00042   // This is a NOP for rays (use Set() instead)
00043   public: virtual void SetRelativePose( GzPose pose, bool updateCoM = true );
00044 
00045   // Get object pose (relative to body)
00046   // This is returns an identity transform for Rays
00047   public: virtual GzPose GetRelativePose() const;
00048 
00049   // Set the starting point and direction (relative coordinates)
00050   public: void Set(GzVector pos, GzVector dir);
00051 
00052   // Get the starting point and direction (relative coordinates)
00053   public: void Get(GzVector *pos, GzVector *dir);
00054 
00055   // Set the length of the ray
00056   public: void SetLength( const double len );
00057 
00058   // Get the length of the ray
00059   public: double GetLength( void ) const;
00060 
00061   // Render the geom (GL)
00062   public: virtual void Render(RenderOptions *opt);
00063 
00066   friend class RayProximity;
00067 
00069   private: GzVector pos_a, pos_b;
00070 
00073   private: double contactDepth;
00074   private: double contactRetro;
00075   private: int contactFiducial;
00076 };
00077 
00078 
00079 #endif


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