Road.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 a road
00022  * Author: Andrew Howard
00023  * Date: 23 Oct 2004
00024  * CVS: $Id: Road.hh,v 1.3 2004/11/17 03:53:43 natepak Exp $
00025  */
00026 
00027 #ifndef ROAD_HH
00028 #define ROAD_HH
00029 
00030 #include "Model.hh"
00031 
00032 // Forward declarations
00033 class Body;
00034 class RoadGeom;
00035 
00036 
00038 class Road : public Model
00039 {
00041   public: Road(World *world);
00042 
00044   public: virtual ~Road();
00045 
00047   public: virtual int Load(WorldFile *file, WorldFileNode *node);
00048 
00050   private: int LoadODE(WorldFile *file, WorldFileNode *node);
00051 
00053   private: int LoadRoad(WorldFile *file, WorldFileNode *node);
00054 
00056   public: virtual int Init(WorldFile *file, WorldFileNode *node);
00057 
00059   public: virtual int Fini();
00060 
00062   public: virtual void Update(double step);
00063   
00064   // Components
00065   private: Body *body;
00066   private: RoadGeom *roadGeom;
00067 
00069   private: Model *trackModel;
00070 
00072   private: GzPose trackPose;
00073 };
00074 
00075 #endif
Last updated 12 September 2005 21:38:45