Robot Simulator of the Robotics Group for Self-Organization of Control: arm2segm.h Source File

# arm2segm.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 __ARM2SEGM_H
    00025 #define __ARM2SEGM_H
    00026
    00027 #include "oderobot.h"
    00028 #include <selforg/configurable.h>
    00029 #include <vector>
    00030
    00031 #include "primitive.h"
    00032 #include "joint.h"
    00033
    00034 #include "angularmotor.h"
    00035 namespace lpzrobots{
    00036
    00037   typedef struct {
    00038     double max_force;  // maximal force for motors
    00039     int segmentsno;    // number of segments
    00040
    00041     double base_mass;  // mass of base
    00042     double base_length;
    00043     double base_width;
    00044
    00045     double arm_mass;   // mass of arms
    00046     double arm_width;
    00047     double arm_length;
    00048     double arm_offset; // used for placing of arms
    00049
    00050     double joint_offset; // used for placing of arms
    00051   } Arm2SegmConf;
    00052
    00053
    00054
    00055   class Arm2Segm : public OdeRobot{
    00056   public:
    00057
    00058     Arm2Segm(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const Arm2SegmConf);
    00059
    00060     virtual ~Arm2Segm(){};
    00061
    00062     static Arm2SegmConf getDefaultConf(){
    00063       Arm2SegmConf conf;
    00064       conf.max_force=5;       // maximal force for motors
    00065       conf.segmentsno=4;      // number of segments
    00066       conf.base_mass=0.5;     // mass of base segment
    00067       conf.base_length= 0.4;  // length of base segment
    00068       conf.base_width= 0.1;   // width of base segment
    00069       conf.arm_mass=0.1;      // mass of arm elements
    00070       conf.arm_width=0.2;     // width (thickness) of arms
    00071       conf.arm_length = 1.2;  // length of arms
    00072       conf.arm_offset= 0.03;  // offset between arms (so that they do not touch)
    00073       conf.joint_offset=0.2;  // overlapping of arms (to have area for joints)
    00074       return conf;
    00075     }
    00076
    00077     /// update the subcomponents
    00078     virtual void update();
    00079
    00080     /** sets the pose of the vehicle
    00081         @param pose desired 4x4 pose matrix
    00082     */
    00083     virtual void place(const osg::Matrix& pose);
    00084
    00085     /** returns actual sensorvalues
    00086         @param sensors sensors scaled to [-1,1]
    00087         @param sensornumber length of the sensor array
    00088         @return number of actually written sensors
    00089     */
    00090     virtual int getSensors(sensor* sensors, int sensornumber);
    00091
    00092     /** sets actual motorcommands
    00093         @param motors motors scaled to [-1,1]
    00094         @param motornumber length of the motor array
    00095     */
    00096     virtual void setMotors(const motor* motors, int motornumber);
    00097
    00098     /** returns number of sensors
    00099      */
    00100     virtual int getSensorNumber(){
    00101       return sensorno;
    00102     };
    00103
    00104     /** returns number of motors
    00105      */
    00106     virtual int getMotorNumber(){
    00107       return motorno;
    00108     };
    00109
    00110     /** returns a vector with the positions of all segments of the robot
    00111         @param poslist vector of positions (of all robot segments)
    00112         @return length of the list
    00113     */
    00114     virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00115
    00116     /** the main object of the robot, which is used for position and speed tracking */
    00117     virtual Primitive* getMainPrimitive() const;
    00118
    00119     virtual void doInternalStuff(GlobalData& globalData);
    00120
    00121   protected:
    00122
    00123     /** creates vehicle at desired pose
    00124         @param pose 4x4 pose matrix
    00125     */
    00126     virtual void create(const osg::Matrix& pose);
    00127
    00128     /** destroys vehicle and space
    00129      */
    00130     virtual void destroy();
    00131
    00132     dSpaceID parentspace;
    00133
    00134     Arm2SegmConf conf;
    00135
    00136
    00137
    00138     std::vector <AngularMotor1Axis*> amotors;
    00139
    00140     std::string name;
    00141     paramval speed;
    00142     paramval factorSensors;
    00143
    00144     int sensorno;      //number of sensors
    00145     int motorno;       // number of motors
    00146
    00147     bool created;      // true if robot was created
    00148   };
    00149 };
    00150 #endif