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

# replayrobot.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 __REPLAYROBOT_H
    00025 #define __REPLAYROBOT_H
    00026
    00027
    00028 #include "oderobot.h"
    00029 #include <selforg/types.h>
    00030 #include <selforg/matrix.h>
    00031
    00032 namespace lpzrobots {
    00033
    00034   /**
    00035    *
    00036    */
    00037   class ReplayRobot : public OdeRobot{
    00038   public:
    00039     ReplayRobot(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const char* filename);
    00040
    00041     ~ReplayRobot();
    00042
    00043     virtual void update() {}
    00044
    00045     /** sets the pose of the vehicle
    00046         @param pose desired 4x4 pose matrix
    00047     */
    00048     virtual void place(const osg::Matrix& pose) {}
    00049
    00050     /** returns actual sensorvalues
    00051         @param sensors sensors scaled to [-1,1]
    00052         @param sensornumber length of the sensor array
    00053         @return number of actually written sensors
    00054     */
    00055     virtual int getSensors(sensor* sensors, int sensornumber);
    00056
    00057     /** sets actual motorcommands
    00058         @param motors motors scaled to [-1,1]
    00059         @param motornumber length of the motor array
    00060     */
    00061     virtual void setMotors(const motor* motors, int motornumber);
    00062
    00063     /** returns number of sensors
    00064      */
    00065     virtual int getSensorNumber() {return sensorEnd - sensorStart + 1; }
    00066
    00067     /** returns number of motors
    00068      */
    00069     virtual int getMotorNumber() {return motorEnd - motorStart + 1; }
    00070
    00071     /** this function is called in each timestep. It should perform robot-internal checks,
    00072         like space-internal collision detection, sensor resets/update etc.
    00073         @param globalData structure that contains global data from the simulation environment
    00074     */
    00075     virtual void doInternalStuff(GlobalData& globalData) {}
    00076
    00077   protected:
    00078     /** the main object of the robot, which is used for position and speed tracking */
    00079     virtual Primitive* getMainPrimitive() const { return 0; }
    00080
    00081     static bool parseDataFileForHeader(FILE* f, int & sensorstart, int& sensorend,  int& motorstart, int& motorend);
    00082     static bool parseDataLine(matrix::Matrix& data, FILE* f);
    00083     static bool isEmpty(const char* c);
    00084     static bool check4Number(const char* c);
    00085
    00086
    00087   protected:
    00088     int sensorStart;
    00089     int sensorEnd;
    00090     int motorStart;
    00091     int motorEnd;
    00092
    00093     matrix::Matrix sensors;
    00094     const char* filename;
    00095     FILE* f;
    00096
    00097
    00098   };
    00099
    00100 }
    00101
    00102 #endif
    00103