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Body.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: Body class
 * Author: Nate Koenig
 * Date: 13 Feb 2006
 * SVN: $Id: Body.hh 283 2008-03-07 04:05:07Z natepak $
 */

#ifndef BODY_HH
#define BODY_HH

#include <ode/ode.h>
#include <list>
#include <vector>

#include "UpdateParams.hh"
#include "XMLConfig.hh"
#include "Entity.hh"
#include "Pose3d.hh"

namespace gazebo
{
  class Geom;
  class Sensor;


class Body : public Entity
{
  public: Body(Entity *parent, dWorldID worldId);

  public: virtual ~Body();

  public: virtual void Load(XMLConfigNode *node);

  public: virtual void Save();
  
  public: virtual void Init();

  public: void Fini();

  public: virtual void Update(UpdateParams &params);

  public: void AttachGeom( Geom *geom );

  public: void SetPose(const Pose3d &pose);

  public: Pose3d GetPose() const;

  public: void SetPosition(const Vector3 &pos);

  public: void SetRotation(const Quatern &rot);

  public: Vector3 GetPosition() const;

  public: Quatern GetRotation() const;

  public: dBodyID GetId() const;

  public: void SetEnabled(bool enable) const;

  public: void UpdateCoM();

  public: const Pose3d &GetCoMPose() const;

  public: void SetGravityMode(bool mode);

  public: void SetLinearVel(const Vector3 &vel);

  public: Vector3 GetLinearVel() const;

  public: void SetAngularVel(const Vector3 &vel);

  public: Vector3 GetAngularVel() const;

  public: void SetForce(const Vector3 &force);

  public: Vector3 GetForce() const;

  public: void SetTorque(const Vector3 &force);

  public: Vector3 GetTorque() const;

  private: void LoadGeom(XMLConfigNode *node);

  private: void LoadSensor(XMLConfigNode *node);

  private: void LoadVisual(XMLConfigNode *node);

  private: std::vector< Geom* > geoms;

  private: std::vector< Sensor* > sensors;
  
  private: XMLConfigNode *xmlNode;
  
  private: dBodyID bodyId;

  private: dMass mass;

  private: bool isStatic;

  private: Pose3d comPose;
  private: Pose3d staticPose;
};

}
#endif

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Last updated Aug 04 2007