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

# discus.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 __DISCUS_H
    00026 #define __DISCUS_H
    00027
    00028 #include <ode_robots/primitive.h>
    00029 #include <ode_robots/joint.h>
    00030 #include <ode_robots/oneaxisservo.h>
    00031 #include <ode_robots/oderobot.h>
    00032 #include <ode_robots/sensor.h>
    00033 #include <ode_robots/raysensorbank.h>
    00034
    00035 namespace lpzrobots {
    00036
    00037   /// configuration object for the Discus robot.
    00038 typedef struct {
    00039 public:
    00040   double diameter;
    00041   double relativewidth;
    00042   double stabdiameter;    ///< diameter of capsule relative to diameter of body
    00043   unsigned int  numAxes;  ///< number of axes with moving masses
    00044   double spheremass;
    00045   double pendulardiameter; ///< automatically set
    00046   double pendularmass;
    00047   double motorpowerfactor; ///< power factor for servos w.r.t. pendularmass
    00048   double pendularrange;    ///< fraction of the diameter the pendular masses can move to one side
    00049   double pendularrangeN;   ///< fraction of the diameter the normal pendular masses can move to one side
    00050   bool motorsensor;        ///< motor values as sensors
    00051   bool irAxis1;
    00052   bool irAxis2;
    00053   bool irAxis3;
    00054   bool irRing;            ///< IR sensors in a ring in x,z plane (collides with irAxis1 and irAxis3)
    00055   bool irSide;            ///< 4 IR senors to both side in y direction (collides with irAxis2)
    00056   bool drawIRs;
    00057   double irsensorscale; ///< range of the ir sensors in units of diameter
    00058   double irCharacter;   ///< characteristics of sensor (\f[ x^c \f] where x is the range-distance)
    00059   RaySensor* irSensorTempl;  ///< template for creation of the other ir sensors (if 0 then IRSensor(irCharacter))
    00060   double motor_ir_before_sensors; ///< if true motor sensors and ir sensors are given before additional sensors
    00061   double brake;         ///< if nonzero the robot brakes (deaccelerates actively/magically) (velocity dependend torque)
    00062
    00063   /// function that deletes sensors
    00064   void destroy();
    00065   /// list of sensors that are mounted at the robot. (e.g.\ AxisOrientationSensor)
    00066   std::list<Sensor*> sensors;
    00067   /// adds a sensor to the list of sensors
    00068   void addSensor(Sensor* s) { sensors.push_back(s); }
    00069 } DiscusConf;
    00070
    00071 /**
    00072    A spherical robot with 3 internal masses, which can slide on their orthogonal axes.
    00073    This robot was inspired by Julius Popp (http://sphericalrobots.com)
    00074 */
    00075 class Discus : public OdeRobot
    00076 {
    00077 public:
    00078   /// enum for the objects of the robot
    00079   /* typedef */ enum objects { Base, Stabilizer, Pendular1, Pendular2, Pendular3, Last } ;
    00080
    00081 protected:
    00082   static const int maxservono=3;
    00083
    00084   Primitive* object[Last];
    00085   SliderServo* servo[maxservono];
    00086   SliderJoint* joint[maxservono];
    00087   OSGPrimitive* axis[maxservono];
    00088
    00089   DiscusConf conf;
    00090   RaySensorBank irSensorBank; ///< a collection of ir sensors
    00091   double transparency;
    00092   bool created;
    00093
    00094 public:
    00095
    00096   /**
    00097    *constructor
    00098    **/
    00099   Discus ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00100                        const DiscusConf& conf, const std::string& name, double transparency=0.5 );
    00101
    00102 protected:
    00103   /**
    00104    *constructor for children
    00105    **/
    00106   Discus ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00107                        const DiscusConf& conf,
    00108                        const std::string& name, const std::string& revision, double transparency);
    00109   /// initialises some internal variables
    00110   void init();
    00111 public:
    00112   virtual ~Discus();
    00113
    00114
    00115   /// default configuration
    00116   static DiscusConf getDefaultConf(){
    00117     DiscusConf c;
    00118     c.diameter     = 1;
    00119     c.relativewidth= 0.2;
    00120     c.stabdiameter=0.7;
    00121     c.numAxes = 3;
    00122     c.spheremass   = 1;// 0.1
    00123     c.pendularmass  = 0.75;
    00124     c.pendularrange  = 0.20; // range of the slider from center in multiple of diameter [-range,range]
    00125     c.pendularrangeN = 0.25;
    00126     c.motorpowerfactor  = 100;
    00127     c.motorsensor = true;
    00128     c.irAxis1=false;
    00129     c.irAxis2=false;
    00130     c.irAxis3=false;
    00131     c.irRing=false;
    00132     c.irSide=false;
    00133     c.drawIRs=true;
    00134     c.irsensorscale=1.5;
    00135     c.irCharacter=1;
    00136     c.irSensorTempl=0;
    00137     c.motor_ir_before_sensors=false;
    00138     c.brake=0;
    00139    return c;
    00140   }
    00141
    00142   virtual void update();
    00143
    00144   virtual void place(const osg::Matrix& pose);
    00145
    00146   virtual void doInternalStuff(GlobalData& globalData);
    00147
    00148   virtual int getSensors ( sensor* sensors, int sensornumber );
    00149
    00150   virtual void setMotors ( const motor* motors, int motornumber );
    00151
    00152   virtual int getMotorNumber();
    00153
    00154   virtual int getSensorNumber();
    00155
    00156   virtual Primitive* getMainPrimitive() const { return object[Base]; }
    00157
    00158 protected:
    00159
    00160   virtual void create(const osg::Matrix& pose);
    00161   virtual void destroy();
    00162
    00163
    00164 };
    00165
    00166 }
    00167
    00168 #endif