/* *  Stage : a multi-robot simulator. *  Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey. * *  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: Simulates a simple box  * Author: Andrew Howard * Date: 7 Dec 2000 * CVS info: $Id: box.cc,v 1.3 2002/11/11 08:21:39 rtv Exp $ */#include "world.hh"#include "box.hh"///////////////////////////////////////////////////////////////////////////// Default constructorCBox::CBox(LibraryItem* libit, CWorld *world, CEntity *parent)        : CEntity(libit, world, parent){  if(parent)    this->color = parent->color;  else    this->color = libit->color;  this->shape = ShapeRect;  this->size_x = 1.0;  this->size_y = 1.0;    vision_return = true;   laser_return = LaserVisible;  sonar_return = true;  obstacle_return = true;  idar_return = IDARReflect;}///////////////////////////////////////////////////////////////////////////// Update the laser datavoid CBox::Update( double simtime ){  CEntity::Update(simtime);    double x, y, th;  GetGlobalPose( x,y,th );  ReMap(x, y, th);}