road.hh

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  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: Model for a road
 * Author: Andrew Howard
 * Date: 23 Oct 2004
 * CVS: $Id: Road.hh,v 1.3 2004/11/17 03:53:43 natepak Exp $
 */

#ifndef ROAD_HH
#define ROAD_HH

#include "Model.hh"

// Forward declarations
class Body;
class RoadGeom;


/// @brief A linear road model
class Road : public Model
{
  /// @brief Construct
  public: Road(World *world);

  /// @brief Destructor
  public: virtual ~Road();

  /// @brief Load the model
  public: virtual int Load(WorldFile *file, WorldFileNode *node);

  /// @brief Load ODE stuff
  private: int LoadODE(WorldFile *file, WorldFileNode *node);

  /// @brief Load road description
  private: int LoadRoad(WorldFile *file, WorldFileNode *node);

  /// @brief Initialize the model
  public: virtual int Init(WorldFile *file, WorldFileNode *node);

  /// @brief Finalize the model
  public: virtual int Fini();

  /// @brief Update the model state
  public: virtual void Update(double step);
  
  // Components
  private: Body *body;
  private: RoadGeom *roadGeom;

  /// Model we are tracking
  private: Model *trackModel;

  /// Current track pose
  private: GzPose trackPose;
};

#endif