Robot Simulator of the Robotics Group for Self-Organization of Control: shortcircuit.h Source File

# shortcircuit.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __SHORTCIRCUIT_H
    00025 #define __SHORTCIRCUIT_H
    00026
    00027
    00028 #include "oderobot.h"
    00029 #include "primitive.h"
    00030
    00031 namespace lpzrobots {
    00032
    00033   /**
    00034    *
    00035    */
    00036   class ShortCircuit : public OdeRobot{
    00037   public:
    00038     ShortCircuit(const OdeHandle& odeHandle, const OsgHandle& osgHandle, int sensornumber, int motornumber);
    00039
    00040     virtual ~ShortCircuit();
    00041
    00042     virtual void update() {}
    00043
    00044     /** sets the pose of the vehicle
    00045         @param pose desired 4x4 pose matrix
    00046     */
    00047     virtual void place(const osg::Matrix& pose) {}
    00048
    00049     /** returns actual sensorvalues
    00050         @param sensors sensors scaled to [-1,1]
    00051         @param sensornumber length of the sensor array
    00052         @return number of actually written sensors
    00053     */
    00054     virtual int getSensors(sensor* sensors, int sensornumber);
    00055
    00056     /** sets actual motorcommands
    00057         @param motors motors scaled to [-1,1]
    00058         @param motornumber length of the motor array
    00059     */
    00060     virtual void setMotors(const motor* motors, int motornumber);
    00061
    00062     /** returns number of sensors
    00063      */
    00064     virtual int getSensorNumber() {return sensorno; }
    00065
    00066     /** returns number of motors
    00067      */
    00068     virtual int getMotorNumber() {return motorno; }
    00069
    00070     /** this function is called in each timestep. It should perform robot-internal checks,
    00071         like space-internal collision detection, sensor resets/update etc.
    00072         @param globalData structure that contains global data from the simulation environment
    00073     */
    00074     virtual void doInternalStuff(GlobalData& globalData) {}
    00075
    00076   protected:
    00077     /** the main object of the robot, which is used for position and speed tracking */
    00078     virtual Primitive* getMainPrimitive() const { return dummy; }
    00079
    00080   protected:
    00081     DummyPrimitive *dummy;
    00082     int sensorno;      //number of sensors
    00083     int motorno;       // number of motors
    00084     motor* motors;
    00085   } ;
    00086
    00087 }
    00088
    00089 #endif
    00090