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SimpleSolid.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 simple solids
00022  * Author: Andrew Howard
00023  * Date: 3 Aug 2003
00024  * CVS: $Id: SimpleSolid.hh,v 1.5 2004/05/24 05:49:25 inspectorg Exp $
00025  */
00026 
00027 #ifndef SIMPLESOLID_HH
00028 #define SIMPLESOLID_HH
00029 
00030 #include "Body.hh"
00031 #include "Model.hh"
00032 
00033 // Forward declarations
00034 class Geom;
00035 
00036 
00037 class SimpleSolid : public Model
00038 {
00039   // Constructor, destructor
00040   public: SimpleSolid( World *world );
00041   public: virtual ~SimpleSolid();
00042   
00043   // Load the model
00044   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00045 
00046   // Initialize the model
00047   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00048 
00049   // Finalize the model
00050   public: virtual int Fini();
00051 
00052   // Update the model state
00053   public: virtual void Update( double step );
00054 
00055   // Load ODE stuff
00056   private: int OdeLoad( WorldFile *file, WorldFileNode *node );
00057 
00058   // ODE objects
00059   private: Body *body;
00060   private: Geom *geom;
00061 };
00062 
00063 
00064 #endif

Last updated 12 September 2005 21:38:45