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GroundPlane.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: Model for the ground plane
00022  * Author: Nate Koenig
00023  * Date: 07 July 2003
00024  * CVS: $Id: GroundPlane.hh,v 1.9 2004/05/26 21:29:48 natepak Exp $
00025  */
00026 
00027 #ifndef GROUNDPLANE_HH
00028 #define GROUNDPLANE_HH
00029 
00030 #include "Model.hh"
00031 
00032 // Forward Declarations
00033 class PlaneGeom;
00034 
00035 class GroundPlane : public Model
00036 {
00037 
00038   // Constructor
00039   public: GroundPlane( World *world );
00040 
00041   // Destructor
00042   public: virtual ~GroundPlane();
00043 
00044   // Load the model
00045   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00046 
00047   // Initialize the model
00048   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00049 
00050   // Finalize the model
00051   public: virtual int Fini();
00052 
00053   // Update the model state
00054   public: virtual void Update( double step );
00055 
00056   // Bodies, geometry
00057   private: Body *body;
00058   private: PlaneGeom *planeGeom;
00059 };
00060 
00061 #endif
00062 

Last updated 12 September 2005 21:38:45