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

# defaultCaterpillar.h

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    00001 /************************************************************************/
    00002 /* originally from:                                                     */
    00003 /* schlange.h                                                           */
    00004 /* Abstract class for Snakes                                            */
    00005 /* @author Georg Martius                                                */
    00006 /************************************************************************/
    00007 /* here:                                                                */
    00008 /* defaultCaterpillar.h                                                 */
    00009 /* Abstract class for Caterpillars                                      */
    00010 /* @author Frank Guettler                                               */
    00011 /************************************************************************/
    00012 /***************************************************************************
    00013  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00014  *    Georg Martius  <georg dot martius at web dot de>                     *
    00015  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00016  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00017  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00018  *                                                                         *
    00019  *   This program is free software; you can redistribute it and/or modify  *
    00020  *   it under the terms of the GNU General Public License as published by  *
    00021  *   the Free Software Foundation; either version 2 of the License, or     *
    00022  *   (at your option) any later version.                                   *
    00023  *                                                                         *
    00024  *   This program is distributed in the hope that it will be useful,       *
    00025  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00026  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00027  *   GNU General Public License for more details.                          *
    00028  *                                                                         *
    00029  *   You should have received a copy of the GNU General Public License     *
    00030  *   along with this program; if not, write to the                         *
    00031  *   Free Software Foundation, Inc.,                                       *
    00032  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00033  *                                                                         *
    00034  ***************************************************************************/
    00035 #ifndef __DEFAULTCATERPILLAR_H
    00036 #define __DEFAULTCATERPILLAR_H
    00037
    00038 #include<vector>
    00039 #include<assert.h>
    00040
    00041 #include"primitive.h"
    00042 #include "joint.h"
    00043 #include "angularmotor.h"
    00044
    00045 #include "oderobot.h"
    00046 #include <selforg/configurable.h>
    00047
    00048 namespace lpzrobots {
    00049
    00050 typedef struct {
    00051 public:
    00052   int    segmNumber;  ///<  number of snake elements
    00053   double segmLength;  ///< length of one snake element
    00054   double segmDia;     ///<  diameter of a snake element
    00055   double segmMass;    ///<  mass of one snake element
    00056   double motorPower;  ///<  power of the motors / servos
    00057   double sensorFactor;    ///<  scale for sensors
    00058   double frictionGround;  ///< friction with ground
    00059   double frictionJoint;   ///< friction within joint
    00060   double jointLimit;      ///< maximal angle for the joints (M_PI/2 = 90 degree)
    00061   int firstJoint;        ///< first joint type to use: 0=sliderJoint, 1=universalJoint
    00062 } CaterPillarConf;
    00063
    00064
    00065 /**
    00066  * This is a class, which models a snake like robot.
    00067  * It consists of a number of equal elements, each linked
    00068  * by a joint
    00069  **/
    00070 class DefaultCaterPillar: public OdeRobot
    00071 {
    00072 protected:
    00073
    00074   bool created;
    00075
    00076   std::vector <AngularMotor*> frictionmotors;
    00077   CaterPillarConf conf;
    00078
    00079 public:
    00080   DefaultCaterPillar ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00081              const CaterPillarConf& conf, const std::string& name, const std::string& revision);
    00082
    00083   static CaterPillarConf getDefaultConf(){
    00084     CaterPillarConf conf;
    00085     conf.segmNumber = 6;    //  number of snake elements
    00086     conf.segmLength = 0.4;   // length of one snake element
    00087     conf.segmDia    = 0.2;   //  diameter of a snake element
    00088     conf.segmMass   = 0.4;   //  mass of one snake element
    00089     conf.motorPower = 1;    //  power of the servos
    00090     conf.sensorFactor = 1;    //  scale for sensors
    00091     conf.frictionGround = 1.0; // friction with ground
    00092     conf.frictionJoint = 0.1; // friction within joint
    00093     conf.jointLimit =  M_PI/8;
    00094     conf.firstJoint=1;
    00095     return conf;
    00096   }
    00097
    00098   virtual ~DefaultCaterPillar();
    00099
    00100
    00101   /** sets the pose of the vehicle
    00102       @param pose desired 4x4 pose matrix
    00103   */
    00104   virtual void place(const osg::Matrix& pose);
    00105
    00106   /// update all primitives and joints
    00107   virtual void update();
    00108
    00109   /**
    00110    *Reads the actual motor commands from an array,
    00111    *an sets all motors of the snake to this values.
    00112    *It is an linear allocation.
    00113    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00114    *@param motornumber length of the motor array
    00115    **/
    00116   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
    00117
    00118   /**
    00119    *Writes the sensor values to an array in the memory.
    00120    *@param sensors pointer to the array
    00121    *@param sensornumber length of the sensor array
    00122    *@return number of actually written sensors
    00123    **/
    00124   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
    00125
    00126   /** returns number of sensors
    00127    */
    00128   virtual int getSensorNumber() = 0;
    00129
    00130   /** returns number of motors
    00131    */
    00132   virtual int getMotorNumber() = 0;
    00133
    00134   /** returns a vector with the positions of all segments of the robot
    00135       @param poslist vector of positions (of all robot segments)
    00136       @return length of the list
    00137   */
    00138   virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00139
    00140     /******** CONFIGURABLE ***********/
    00141     virtual void notifyOnChange(const paramkey& key);
    00142
    00143   /** the main object of the robot, which is used for position and speed tracking */
    00144   virtual Primitive* getMainPrimitive() const {
    00145     if(!objects.empty()){
    00146       //      int half = objects.size()/2;
    00147       //      return (objects[half]);
    00148       return (objects[0]);
    00149     }else return 0;
    00150   }
    00151 protected:
    00152
    00153   /** creates vehicle at desired pose
    00154       @param pose 4x4 pose matrix
    00155   */
    00156   virtual void create(const osg::Matrix& pose);
    00157   virtual void destroy();
    00158 };
    00159
    00160 }
    00161
    00162 #endif