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

# skeleton.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 __SKELETON_H
    00025 #define __SKELETON_H
    00026
    00027 #include <ode_robots/oderobot.h>
    00028 #include <ode_robots/raysensorbank.h>
    00029 #include <ode_robots/gripper.h>
    00030
    00031 namespace lpzrobots {
    00032
    00033   class Primitive;
    00034   class Joint;
    00035   class OneAxisServo;
    00036   class TwoAxisServo;
    00037   class AngularMotor;
    00038
    00039
    00040   typedef struct {
    00041   public:
    00042     double size;       ///< scaling factor for robot (height)
    00043     double massfactor; ///< mass factor for all parts
    00044
    00045     bool   useVelocityServos; ///< if true the more stable velocity controlling servos are used
    00046
    00047     double relLegmass; ///< relative overall leg mass
    00048     double relArmmass; ///< relative overall arm mass
    00049     double relFeetmass; ///< relative overall feet mass
    00050     double hipPower;   ///< maximal force for at hip joint motors
    00051     double hipDamping; ///< damping of hip joint servos
    00052     double hipVelocity; ///< velocity of hip joint servos
    00053     double hipJointLimit; ///< angle range for legs
    00054     double hip2Power;   ///< maximal force for at hip2 (sagital joint axis) joint motors
    00055     double hip2Damping; ///< damping of hip2 joint servos
    00056     double hip2JointLimit; ///< angle range for hip joint in lateral direction
    00057     double neckPower;  ///< spring strength in the neck
    00058     double neckDamping; ///< damping in the neck
    00059     double neckVelocity; ///< velocity in the neck
    00060     double neckJointLimit; ///< angle range for neck
    00061     double kneePower;  ///< spring strength in the knees
    00062     double kneeDamping; ///< damping in the knees
    00063     double kneeVelocity; ///< velocity in the knees
    00064     double kneeJointLimit; ///< angle range for knees
    00065     double anklePower;  ///< spring strength in the ankles
    00066     double ankleDamping; ///< damping in the ankles
    00067     double ankleVelocity; ///< velocity in the ankles
    00068     double ankleJointLimit; ///< angle range for ankles
    00069     double armPower;   ///< maximal force for at arm (shoulder) joint motors
    00070     double armDamping; ///< damping of arm ((shoulder)) joint servos
    00071     double armVelocity; ///< velocity of arm ((shoulder)) joint servos
    00072     double armJointLimit; ///< angle range of arm joint
    00073     double elbowPower;   ///< maximal force for at elbow (shoulder) joint motors
    00074     double elbowDamping; ///< damping of elbow ((shoulder)) joint servos
    00075     double elbowVelocity; ///< velocity of elbow ((shoulder)) joint servos
    00076     double elbowJointLimit; ///< angle range of elbow joint
    00077     double pelvisPower;   ///< maximal force for at pelvis joint motor
    00078     double pelvisDamping; ///< damping of pelvis joint servo
    00079     double pelvisVelocity; ///< velocity of pelvis joint servo
    00080     double pelvisJointLimit; ///< angle range of pelvis joint
    00081     double backPower;   ///< maximal force for at back joint motor
    00082     double backDamping; ///< damping of back joint servo
    00083     double backVelocity; ///< velocity of back joint servo
    00084     double backJointLimit; ///< angle range of back joint
    00085
    00086     double powerFactor; ///< scale factor for maximal forces of the servos
    00087     double relForce;    ///< factor between arm force and rest
    00088     double dampingFactor; ///< scale factor for damping of the servos
    00089
    00090     double jointLimitFactor; ///< factor between servo range (XXXJointLimit, see above) and physical joint limit
    00091
    00092
    00093     bool onlyPrimaryFunctions; ///< true: only leg and arm are controlable, false: all joints
    00094     bool onlyMainParameters; ///< true: only a few parameters are exported for configuration
    00095
    00096     bool handsRotating; ///< hands are attached with a ball joint
    00097     bool useGripper;        ///< hands have a gripper: use getGrippers and add grippables
    00098     double gripDuration;    ///< time the gripper can grasp
    00099     double releaseDuration; ///< time the gripper has to release before grasping again
    00100
    00101     bool movableHead;  ///< if false then no neck movement
    00102
    00103     bool useBackJoint; ///< whether to use the joint in the back
    00104
    00105     bool irSensors; ///< whether to use the irsensor eyes
    00106
    00107     std::string headColor;   ///< special color of head (typically like body)
    00108     std::string bodyColor;   ///< color of skin
    00109     std::string trunkColor;  ///< color of upper body (pullover-color)
    00110     std::string trouserColor;///< color of upper legs and hands (trousers-color)
    00111
    00112
    00113     std::string headTexture; // texture of the head
    00114     std::string bodyTexture; // texture of the body
    00115     std::string trunkTexture; // texture of the trunk and thorax
    00116
    00117
    00118   } SkeletonConf;
    00119
    00120
    00121   /** should look like a humanoid
    00122    */
    00123   class Skeleton : public OdeRobot, public Inspectable{
    00124   public:
    00125
    00126     enum SkelParts {Hip,Trunk_comp, Belly, Thorax, Neck,
    00127                     Head_comp,
    00128                     Left_Shoulder, Left_Forearm, Left_Hand,
    00129                     Right_Shoulder, Right_Forearm, Right_Hand,
    00130                     Left_Thigh, Left_Shin, Left_Foot,
    00131                     Right_Thigh, Right_Shin, Right_Foot,
    00132                     LastPart };
    00133
    00134
    00135     /**
    00136      * constructor of Skeleton robot
    00137      * @param odeHandle data structure for accessing ODE
    00138      * @param osgHandle ata structure for accessing OSG
    00139      * @param conf configuration object
    00140      */
    00141     Skeleton(const OdeHandle& odeHandle, const OsgHandle& osgHandle, SkeletonConf& conf,
    00142                const std::string& name);
    00143
    00144     virtual ~Skeleton(){ destroy(); };
    00145
    00146     static SkeletonConf getDefaultConf(){
    00147       SkeletonConf c;
    00148       c.size        = 1;
    00149       c.massfactor  = 1;
    00150       c.relLegmass  = 1;        // unused
    00151       c.relFeetmass = 1;        // .1; unused
    00152       c.relArmmass  = 1;        // 0.3; unused
    00153
    00154       c.useVelocityServos = false;
    00155       c.powerFactor       = 1.0;
    00156       c.relForce          = 1.0;
    00157       c.dampingFactor     = 1.0;
    00158       c.jointLimitFactor  = 1.1; // factor between servo range and physical limit
    00159
    00160       c.hipPower    = 20;
    00161       c.hipDamping  = 0.2;
    00162       c.hipVelocity = 20;
    00163
    00164       c.hip2Power   = 20;
    00165       c.hip2Damping = 0.2;
    00166
    00167       c.neckPower    = 2;
    00168       c.neckDamping  = 0.1;
    00169       c.neckVelocity = 20;
    00170
    00171       c.kneePower    = 10;
    00172       c.kneeDamping  = 0.1;
    00173       c.kneeVelocity = 20;
    00174
    00175       c.anklePower    = 3;
    00176       c.ankleDamping  = 0.1;
    00177       c.ankleVelocity = 20;
    00178
    00179       c.armPower    = 8;
    00180       c.armDamping  = 0.1;
    00181       c.armVelocity = 20;
    00182
    00183       c.elbowPower    = 4;
    00184       c.elbowDamping  = 0.1;
    00185       c.elbowVelocity = 20;
    00186
    00187       c.pelvisPower    = 20;
    00188       c.pelvisDamping  = 0.2;
    00189       c.pelvisVelocity = 20;
    00190
    00191       c.backPower    = 20;
    00192       c.backDamping  = 0.1;
    00193       c.backVelocity = 20;
    00194
    00195       c.hipJointLimit  = 2.1;   //1.6;
    00196       c.hip2JointLimit = .8;    //
    00197
    00198       c.kneeJointLimit  = 2;    // 2.8; // + 300, -20 degree
    00199       c.ankleJointLimit = M_PI/2; // - 90 + 45 degree
    00200
    00201       c.armJointLimit   = M_PI/2; // +- 90 degree
    00202       c.elbowJointLimit = 1.4;
    00203
    00204       c.pelvisJointLimit = M_PI/10; // +- 18 degree
    00205
    00206       c.neckJointLimit = M_PI/5;
    00207       c.backJointLimit = M_PI/3;//4// // +- 60 degree (half of it to the back)
    00208
    00209       c.onlyMainParameters   = true;
    00210       c.onlyPrimaryFunctions = false;
    00211       c.handsRotating        = false;
    00212       c.movableHead          = false;
    00213       c.useBackJoint         = true;
    00214       c.irSensors            = false;
    00215       c.useGripper           = false;
    00216       c.gripDuration         = 30;
    00217       c.releaseDuration      = 1;
    00218
    00219       //      c.headTexture = "Images/really_white.rgb";
    00220       c.headTexture     = "Images/dusty.rgb";
    00221       c.headColor       = "robot4";
    00222       //  c.bodyTexture = "Images/whitemetal_farbig_small.rgb";
    00223       c.bodyTexture     = "Images/dusty.rgb";
    00224       c.bodyColor       = "robot4";
    00225       c.trunkTexture    = "Images/dusty.rgb"; //"Images/whitemetal_farbig_small.rgb";
    00226       c.trunkColor      = "robot1";
    00227       c.trouserColor    = "robot2";
    00228       return c;
    00229     }
    00230
    00231     static SkeletonConf getDefaultConfVelServos(){
    00232       SkeletonConf c = getDefaultConf();
    00233
    00234       c.useVelocityServos = true;
    00235
    00236       c.hipDamping    = 0.01;
    00237       c.hip2Damping   = 0.01;
    00238       c.neckDamping   = 0.01;
    00239       c.kneeDamping   = 0.01;
    00240       c.ankleDamping  = 0.01;
    00241       c.armDamping    = 0.01;
    00242       c.elbowDamping  = 0.01;
    00243       c.pelvisDamping = 0.01;
    00244       c.backDamping   = 0.01;
    00245
    00246
    00247       return c;
    00248     }
    00249
    00250
    00251     /**
    00252      * updates the OSG nodes of the vehicle
    00253      */
    00254     virtual void update();
    00255
    00256
    00257     /** sets the pose of the vehicle
    00258         @param pose desired pose matrix
    00259     */
    00260     virtual void place(const osg::Matrix& pose);
    00261
    00262     /** returns actual sensorvalues
    00263         @param sensors sensors scaled to [-1,1]
    00264         @param sensornumber length of the sensor array
    00265         @return number of actually written sensors
    00266     */
    00267     virtual int getSensors(sensor* sensors, int sensornumber);
    00268
    00269     /** sets actual motorcommands
    00270         @param motors motors scaled to [-1,1]
    00271         @param motornumber length of the motor array
    00272     */
    00273     virtual void setMotors(const motor* motors, int motornumber);
    00274
    00275     /** returns number of sensors
    00276      */
    00277     virtual int getSensorNumber();
    00278
    00279     /** returns number of motors
    00280      */
    00281     virtual int getMotorNumber();
    00282
    00283     /** this function is called in each timestep. It should perform robot-internal checks,
    00284         like space-internal collision detection, sensor resets/update etc.
    00285         @param globalData structure that contains global data from the simulation environment
    00286     */
    00287     virtual void doInternalStuff(GlobalData& globalData);
    00288
    00289     /******** CONFIGURABLE ***********/
    00290     virtual void notifyOnChange(const paramkey& key);
    00291
    00292     /** the main object of the robot, which is used for position and speed tracking */
    00293     virtual Primitive* getMainPrimitive() const { return objects[Thorax]; } // Trunk_comp
    00294
    00295     /** returns the position of the head */
    00296     virtual Position getHeadPosition();
    00297
    00298     /** returns the position of the trunk */
    00299     virtual Position getTrunkPosition();
    00300
    00301     /// returns a the gripper list
    00302     GripperList& getGrippers();
    00303
    00304
    00305   protected:
    00306
    00307     /** creates vehicle at desired pose
    00308         @param pose 4x4 pose matrix
    00309     */
    00310     virtual void create(const osg::Matrix& pose);
    00311
    00312     /** destroys vehicle and space
    00313      */
    00314     virtual void destroy();
    00315
    00316     SkeletonConf conf;
    00317
    00318     bool created;      // true if robot was created
    00319
    00320     OdeHandle ignoreColSpace; // odehandle with space within collisions are ignored
    00321
    00322     std::vector<TwoAxisServo*> hipservos; // motors
    00323     std::vector<OneAxisServo*> kneeservos; // motors
    00324     std::vector<OneAxisServo*> ankleservos; // motors
    00325     std::vector<TwoAxisServo*> armservos; // motors
    00326     std::vector<OneAxisServo*> arm1servos; // motors
    00327 /*     std::vector<OneAxisServo*> headservos; // motors */
    00328     std::vector<TwoAxisServo*> headservos; // motors
    00329
    00330     OneAxisServo* pelvisservo; // between Hip and Trunk_comp
    00331     std::vector<OneAxisServo*> backservos;   // between Trunk_comp and Thorax
    00332     //TwoAxisServo* backservo;   // between Trunk_comp and Thorax
    00333
    00334     std::vector<AngularMotor*> frictionmotors;
    00335
    00336     RaySensorBank irSensorBank;
    00337     GripperList grippers;
    00338   };
    00339
    00340 }
    00341
    00342 #endif