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RayProximity.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: Ray proximity sensor 00022 * Author: Carle Cote (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada) 00023 * Date: 23 february 2004 00024 * CVS: $Id: RayProximity.hh,v 1.10 2005/05/06 17:18:55 natepak Exp $ 00025 * 00026 * Modification description : 00027 * 00028 * Author: Carle Cote 00029 * (Laborius - Universite de Sherbrooke - Sherbrooke, Quebec, Canada) 00030 * Date: 26 may 2004 00031 * Desc: Fix model with refactored core 00032 * - Change collision detection mechanism 00033 * - Change rays to have their own spaceID 00034 */ 00035 00036 #ifndef RAYPROXIMITYSENSOR_HH 00037 #define RAYPROXIMITYSENSOR_HH 00038 00039 #include "Sensor.hh" 00040 #include "Body.hh" 00041 00042 class RayGeom; 00043 00044 00050 class RayProximity: public Sensor 00051 { 00057 public: RayProximity(World *world, Body *body, int rayCount); 00058 00059 00061 public: virtual ~RayProximity(); 00062 00067 public: void SetRay(int index, GzVector a, GzVector b); 00068 00071 public: double GetRange(int index); 00072 00074 public: double GetRetro(int index); 00075 00077 public: int GetFiducial(int index); 00078 00080 public: void Update(); 00081 00083 private: static void UpdateCallback( void *data, dGeomID o1, dGeomID o2 ); 00084 00086 private: Body *body; 00087 00089 private: dSpaceID superSpaceId; 00090 private: dSpaceID raySpaceId; 00091 00093 private: int rayCount; 00094 private: RayGeom **rays; 00095 }; 00096 00097 #endif
