collisiondetectors/CD_rangesensor/CD_Range_Sensor.h

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#ifndef CD_Range_Sensor_h
#define CD_Range_Sensor_h 1

#include "Universe\Universe.h"
#include "robots\R_OpenChain.h"
#include "CollisionDetectors\CD_BasicStyle.h"
#include "CollisionDetectors\CD_LinearContinuous.h"
#include "CollisionDetectors\CD_Vcollide.h"
#include "geometry\geo_rangesensor\Range_Sensor.h"
#include "Octree_Data_Fuser.h"

const char CD_Range_Sensor_Settings_Filename[20]  = "CD_Range_Sensor.txt";
const char CD_Range_Sensor_Octree_Filename[9]  = "test.txt";

#pragma warning( push )
#pragma warning( disable : 4250 )

class CD_Range_Sensor 
: 
        public CD_BasicStyle,
        public CD_LinearContinuous
//note: is CD_BasicStyle the appropriate parent???
//I hope this doesn't do anything with the universe because it's not the universe
//we want to use for the sensor based collison dectection

{
  
public:

#ifdef WIN32
  CWnd* cWindow_ptr;

  HGLRC hglrc_var;
#endif

  bool isMultiThreaded;

  Octree_Data_Fuser dataFuser;

  CD_Range_Sensor( Universe& universe);
  
  CD_Range_Sensor (const CD_Range_Sensor& right);
  
  virtual ~CD_Range_Sensor();

  void GL_Display_Octree ();
  
  void Take_Picture(Configuration newconfig);
  
  CollisionDetectorBase* CD_Range_Sensor::Clone () const;
  
  virtual bool IsInterfering (const Configuration& config);

protected:


  bool savetofile;
    
  Universe robot_universe; //universe with only robots, no obstacles

  Universe* up; //points to the original universe which was passed in with constructor
                //(universe must not move)
  
  Range_Sensor* FindFirstCamera (Entity* entity);
    
  std::vector< Entity* > allorigEntities;
  
  CD_Vcollide* lv; //local vcollide pointer to free/unknown

  CD_Vcollide* lv_obstacle; //local vcollide pointer to obstacle/no obstacle

        
private: 

};

#pragma warning( pop )

#endif

---