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//! Specialized body class.
/*!
* Predefined body class. Ready to use in a RobotActor.
* This body represents the current robot of SSSA.
*
* @author Lutz Winkler
*
*/
#ifndef SSSAACTIVEWHEEL_H_
#define SSSAACTIVEWHEEL_H_
#include "../../basic/bodies/cylinder.h"
// TODO: when available, implement new SSSA robot design.
namespace srCore {
class SSSAActiveWheel : public Cylinder
{
public:
//! Constructor
/*! @param id a 16bit id, used to set the colliding bit parameter.
* @param x, y, z the position of the hinge in the world coordinate system.
* @param heading, pitch, roll the orientation of the axis of the hinge in the world coordinate system.
* @param Scene the scene in which the body should be placed.
* @param osgGroup using this group, another scene will be created that will be used by sensors
*
*/
SSSAActiveWheel ( RobotActorBase* robot,
float x, float y, float z,
float heading, float pitch, float roll);
protected:
virtual ~SSSAActiveWheel ();
};
}
#endif /*SSSAACTIVEWHEEL_H_*/
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