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

# robotchain.h

Go to the documentation of this file.

    00001
    00002 /***************************************************************************
    00003  *   Copyright (C) 2005-2012 LpzRobots development team                    *
    00004  *    Georg Martius  <georg dot martius at web dot de>                     *
    00005  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00006  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00007  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00008  *                                                                         *
    00009  *   This program is free software; you can redistribute it and/or modify  *
    00010  *   it under the terms of the GNU General Public License as published by  *
    00011  *   the Free Software Foundation; either version 2 of the License, or     *
    00012  *   (at your option) any later version.                                   *
    00013  *                                                                         *
    00014  *   This program is distributed in the hope that it will be useful,       *
    00015  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00016  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00017  *   GNU General Public License for more details.                          *
    00018  *                                                                         *
    00019  *   You should have received a copy of the GNU General Public License     *
    00020  *   along with this program; if not, write to the                         *
    00021  *   Free Software Foundation, Inc.,                                       *
    00022  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00023  *                                                                         *
    00024  ***************************************************************************/
    00025 #ifndef __ROBOTCHAIN_H
    00026 #define __ROBOTCHAIN_H
    00027
    00028 #include <ode_robots/oderobot.h>
    00029
    00030 namespace lpzrobots {
    00031
    00032   typedef struct {
    00033   public:
    00034     double      size;           ///< scaling factor for robot (size of one robot)
    00035     double      distance;       ///< distance between robots
    00036     double      force;          ///< @see Nimm2Conf
    00037     double      speed;          ///< @see Nimm2Conf
    00038     int         numRobots;      ///< number of robots in the chain
    00039     double      massFactor;     ///< @see Nimm2Conf
    00040     double      wheelSlip;      ///< @see Nimm2Conf
    00041     std::string color;          ///< color of robots
    00042     bool        useIR;          ///< use infrared sensors?
    00043   } RobotChainConf;
    00044
    00045
    00046   /** Chain of robots
    00047    */
    00048   class RobotChain : public OdeRobot {
    00049   public:
    00050
    00051     /**
    00052      * constructor of uwo robot
    00053      * @param odeHandle data structure for accessing ODE
    00054      * @param osgHandle ata structure for accessing OSG
    00055      * @param size scaling of robot
    00056      * @param force maximal used force to realize motorcommand
    00057      * @param radialLegs switches between cartensian and radial leg joints
    00058      */
    00059     RobotChain(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00060                const RobotChainConf& conf, const std::string& name);
    00061
    00062     virtual ~RobotChain(){ destroy(); };
    00063
    00064     static RobotChainConf getDefaultConf(){
    00065       RobotChainConf c;
    00066       c.numRobots  = 5;
    00067       c.size       = 0.6;
    00068       c.distance   = 0.95;
    00069       c.force      = 2;
    00070       c.speed      = 45;
    00071       c.massFactor = 0.5;
    00072       c.wheelSlip  = 0.02;
    00073       c.color      = "robot3";
    00074       c.useIR      = false;
    00075       return c;
    00076     }
    00077
    00078     /**
    00079      * updates the OSG nodes of the vehicle
    00080      */
    00081     virtual void update();
    00082
    00083
    00084     /** sets the pose of the vehicle
    00085         @param pose desired pose matrix
    00086     */
    00087     virtual void place(const osg::Matrix& pose);
    00088
    00089     virtual int getSensors(sensor* sensors, int sensornumber);
    00090
    00091     virtual void setMotors(const motor* motors, int motornumber);
    00092
    00093     virtual int getSensorNumber();
    00094
    00095     virtual int getMotorNumber();
    00096
    00097     virtual void doInternalStuff(GlobalData& globalData);
    00098
    00099     /******** CONFIGURABLE ***********/
    00100     virtual void notifyOnChange(const paramkey& key);
    00101
    00102
    00103     virtual int getIRSensorNum();
    00104
    00105   protected:
    00106     virtual Primitive* getMainPrimitive() const;
    00107
    00108     virtual void create(const osg::Matrix& pose);
    00109
    00110     virtual void destroy();
    00111
    00112     RobotChainConf conf;
    00113
    00114     bool created;
    00115
    00116     std::vector <OdeRobot*> robots;
    00117   };
    00118
    00119 }
    00120
    00121 #endif