Robot Simulator of the Robotics Group for Self-Organization of Control: sphererobot3masses.h Source File

# sphererobot3masses.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
    00025 #ifndef __SPHEREROBOT3MASSES_H
    00026 #define __SPHEREROBOT3MASSES_H
    00027
    00028 #include "primitive.h"
    00029 #include "joint.h"
    00030 #include "oneaxisservo.h"
    00031 #include "oderobot.h"
    00032 #include "sensor.h"
    00033 #include "raysensorbank.h"
    00034
    00035 namespace lpzrobots {
    00036
    00037   /// configuration object for the Sphererobot3Masses robot.
    00038 typedef struct {
    00039 public:
    00040   double diameter;
    00041   double spheremass;
    00042   double pendulardiameter; ///< automatically set
    00043   double pendularmass;
    00044   double motorpowerfactor; ///< power factor for servos w.r.t. pendularmass
    00045   double pendularrange;    ///< fraction of the diameter the pendular masses can move to one side
    00046   bool motorsensor;        ///< motor values as sensors
    00047   bool irAxis1;
    00048   bool irAxis2;
    00049   bool irAxis3;
    00050   bool irRing;            ///< IR sensors in a ring in x,z plane (collides with irAxis1 and irAxis3)
    00051   bool irSide;            ///< 4 IR senors to both side in y direction (collides with irAxis2)
    00052   RaySensor::rayDrawMode drawIRs;
    00053   double irsensorscale; ///< range of the ir sensors in units of diameter
    00054   double irCharacter;   ///< characteristics of sensor (\f[ x^c \f] where x is the range-distance)
    00055   RaySensor* irSensorTempl;  ///< template for creation of the other ir sensors (if 0 then IRSensor(irCharacter))
    00056   double motor_ir_before_sensors; ///< if true motor sensors and ir sensors are given before additional sensors
    00057   double brake;         ///< if nonzero the robot brakes (deaccelerates actively/magically)
    00058   double axesShift; ///< defines how much the axes are shifted from the center
    00059
    00060   /// function that deletes sensors
    00061   void destroy();
    00062   /// list of sensors that are mounted at the robot. (e.g.\ AxisOrientationSensor)
    00063   std::list<Sensor*> sensors;
    00064   /// adds a sensor to the list of sensors
    00065   void addSensor(Sensor* s) { sensors.push_back(s); }
    00066 } Sphererobot3MassesConf;
    00067
    00068 /**
    00069    A spherical robot with 3 internal masses, which can slide on their orthogonal axes.
    00070    This robot was inspired by Julius Popp (http://sphericalrobots.com)
    00071 */
    00072 class Sphererobot3Masses : public OdeRobot
    00073 {
    00074 public:
    00075   /// enum for the objects of the robot
    00076   enum parts { Base, Pendular1, Pendular2, Pendular3, Last } ;
    00077
    00078 protected:
    00079   static const int servono=3;
    00080   unsigned int numberaxis;
    00081
    00082   SliderServo* servo[servono];
    00083   OSGPrimitive* axis[servono];
    00084
    00085   Sphererobot3MassesConf conf;
    00086   RaySensorBank irSensorBank; ///< a collection of ir sensors
    00087   double transparency;
    00088   bool created;
    00089
    00090 public:
    00091
    00092   /**
    00093    *constructor
    00094    **/
    00095   Sphererobot3Masses ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00096                        const Sphererobot3MassesConf& conf, const std::string& name, double transparency=0.5 );
    00097
    00098 protected:
    00099   /**
    00100    *constructor for children
    00101    **/
    00102   Sphererobot3Masses ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00103                        const Sphererobot3MassesConf& conf,
    00104                        const std::string& name, const std::string& revision, double transparency);
    00105   /// initialises some internal variables
    00106   void init();
    00107 public:
    00108   virtual ~Sphererobot3Masses();
    00109
    00110
    00111   /// default configuration
    00112   static Sphererobot3MassesConf getDefaultConf(){
    00113     Sphererobot3MassesConf c;
    00114     c.diameter     = 1;
    00115     c.spheremass   = .3;// 0.1
    00116     c.pendularmass  = 1.0;
    00117     c.pendularrange  = 0.20; // range of the slider from center in multiple of diameter [-range,range]
    00118     c.motorpowerfactor  = 100;
    00119     c.motorsensor = true;
    00120     c.irAxis1=false;
    00121     c.irAxis2=false;
    00122     c.irAxis3=false;
    00123     c.irRing=false;
    00124     c.irSide=false;
    00125     c.drawIRs=RaySensor::drawAll;
    00126     c.irsensorscale=1.5;
    00127     c.irCharacter=1;
    00128     c.irSensorTempl=0;
    00129     c.motor_ir_before_sensors=false;
    00130     c.axesShift=0;
    00131     c.brake=0;
    00132     c.axesShift=0;
    00133    return c;
    00134   }
    00135
    00136   virtual void update();
    00137
    00138   virtual void place(const osg::Matrix& pose);
    00139
    00140   virtual void doInternalStuff(GlobalData& globalData);
    00141
    00142   virtual int getSensors ( sensor* sensors, int sensornumber );
    00143
    00144   virtual void setMotors ( const motor* motors, int motornumber );
    00145
    00146   virtual int getMotorNumber();
    00147
    00148   virtual int getSensorNumber();
    00149
    00150   /******** CONFIGURABLE ***********/
    00151   virtual void notifyOnChange(const paramkey& key);
    00152
    00153
    00154 protected:
    00155
    00156   virtual void create(const osg::Matrix& pose);
    00157   virtual void destroy();
    00158
    00159
    00160 };
    00161
    00162 }
    00163
    00164 #endif