Robot Simulator of the Robotics Group for Self-Organization of Control: formel1.h Source File

# formel1.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 __FORMEL1_H
    00025 #define __FORMEL1_H
    00026
    00027 #include "oderobot.h"
    00028
    00029 namespace lpzrobots {
    00030
    00031   class Primitive;
    00032   class Joint;
    00033
    00034   /** Robot that looks like a Nimm 2 Bonbon :-)
    00035       4 wheels and a capsule like body
    00036   */
    00037   class Formel1 : public OdeRobot{
    00038   public:
    00039
    00040     Formel1(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00041           double size=1, double force=3, double speed=15, bool sphereWheels=true);
    00042
    00043     virtual ~Formel1(){};
    00044
    00045     /**
    00046      * updates the OSG nodes of the vehicle
    00047      */
    00048     virtual void update();
    00049
    00050
    00051     /** sets the pose of the vehicle
    00052         @param pose desired pose matrix
    00053     */
    00054     virtual void place(const osg::Matrix& pose);
    00055
    00056     /** returns actual sensorvalues
    00057         @param sensors sensors scaled to [-1,1]
    00058         @param sensornumber length of the sensor array
    00059         @return number of actually written sensors
    00060     */
    00061     virtual int getSensors(sensor* sensors, int sensornumber);
    00062
    00063     /** sets actual motorcommands
    00064         @param motors motors scaled to [-1,1]
    00065         @param motornumber length of the motor array
    00066     */
    00067     virtual void setMotors(const motor* motors, int motornumber);
    00068
    00069     /** returns number of sensors
    00070      */
    00071     virtual int getSensorNumber(){
    00072       return sensorno;
    00073     };
    00074
    00075     /** returns number of motors
    00076      */
    00077     virtual int getMotorNumber(){
    00078       return motorno;
    00079     };
    00080
    00081     /** this function is called in each timestep. It should perform robot-internal checks,
    00082         like space-internal collision detection, sensor resets/update etc.
    00083         @param globalData structure that contains global data from the simulation environment
    00084     */
    00085     virtual void doInternalStuff(GlobalData& globalData);
    00086
    00087
    00088   protected:
    00089     /** the main object of the robot, which is used for position and speed tracking */
    00090     virtual Primitive* getMainPrimitive() const { return object[0]; }
    00091
    00092     /** creates vehicle at desired pose
    00093         @param pose 4x4 pose matrix
    00094     */
    00095     virtual void create(const osg::Matrix& pose);
    00096
    00097     /** destroys vehicle and space
    00098      */
    00099     virtual void destroy();
    00100
    00101     /** additional things for collision handling can be done here
    00102      */
    00103     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00104
    00105     double length;  // chassis length
    00106     double width;  // chassis width
    00107     double height;   // chassis height
    00108     double radius;  // wheel radius
    00109     double wheelthickness; // thickness of the wheels
    00110     bool sphereWheels; // draw spherical wheels?
    00111     double cmass;    // chassis mass
    00112     double wmass;    // wheel mass
    00113     int sensorno;      //number of sensors
    00114     int motorno;       // number of motors
    00115     int segmentsno;    // number of motorsvehicle segments
    00116     double speed;    //
    00117
    00118     double max_force;        // maximal force for motors
    00119
    00120     bool created;      // true if robot was created
    00121
    00122     Primitive* object[5];  // 1 capsule, 4 wheels
    00123     Hinge2Joint* joint[4]; // joints between cylinder and each wheel
    00124
    00125   };
    00126
    00127 }
    00128
    00129
    00130 #endif