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WheelGeom.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 wheel geom - draws as a cylinder but behaives as a sphere (for
00022  * collsion with meshes)
00023  * Author: Nate Keonig, Andrew Howard
00024  * Date: 9 Feb 2004
00025  * CVS: $Id: WheelGeom.hh,v 1.4 2004/08/16 07:29:03 inspectorg Exp $
00026  */
00027 
00028 #ifndef WHEELGEOM_HH
00029 #define WHEELGEOM_HH
00030 
00031 #include "Geom.hh"
00032 
00033 
00034 class WheelGeom : public Geom
00035 {
00036   public: WheelGeom(Body *body, dSpaceID spaceId, double totalRadius, double tireRadius);
00037   public: virtual ~WheelGeom();
00038   
00039   // Render the geom (GL)
00040   public: virtual void Render(RenderOptions *opt);
00041 
00042   // Dimensions
00043   private: double totalRadius, tireRadius;
00044 };
00045 
00046 
00047 #endif

Last updated 12 September 2005 21:38:45