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

# fourwheeled.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 __FOUR_WHEELED__
    00025 #define __FOUR_WHEELED__
    00026
    00027 #include "nimm4.h"
    00028 #include "raysensorbank.h"
    00029
    00030 namespace lpzrobots {
    00031
    00032   class Primitive;
    00033   class Hinge2Joint;
    00034   class Joint;
    00035
    00036   typedef struct {
    00037     double size;
    00038     double force;
    00039     double speed;
    00040     bool sphereWheels;
    00041     bool useBumper;
    00042     bool useButton; ///< use yellow Button at the back
    00043     bool twoWheelMode; ///< if true then the robot emulates 2 wheels
    00044     bool irFront;
    00045     bool irBack;
    00046     bool irSide;
    00047     double irRangeFront;
    00048     double irRangeBack;
    00049     double irRangeSide;
    00050     Substance wheelSubstance;
    00051   } FourWheeledConf;
    00052
    00053   /** Robot is based on nimm4 with
    00054       4 wheels and a capsule like body
    00055   */
    00056   class FourWheeled : public Nimm4{
    00057   public:
    00058
    00059     /**
    00060      * constructor of nimm4 robot
    00061      * @param odeHandle data structure for accessing ODE
    00062      * @param osgHandle ata structure for accessing OSG
    00063      * @param conf configuration structure
    00064      * @param name name of the robot
    00065      */
    00066     FourWheeled(const OdeHandle& odeHandle, const OsgHandle& osgHandle, FourWheeledConf conf, const std::string& name);
    00067
    00068     static FourWheeledConf getDefaultConf(){
    00069       FourWheeledConf conf;
    00070       conf.size         = 1;
    00071       conf.force        = 3;
    00072       conf.speed        = 15;
    00073       conf.sphereWheels = true;
    00074       conf.twoWheelMode = false;
    00075       conf.useBumper    = true;
    00076       conf.useButton    = false;
    00077       conf.irFront      = false;
    00078       conf.irBack       = false;
    00079       conf.irSide       = false;
    00080       conf.irRangeFront = 3;
    00081       conf.irRangeSide  = 2;
    00082       conf.irRangeBack  = 2;
    00083       conf.wheelSubstance.toRubber(40);
    00084       return conf;
    00085     }
    00086
    00087     virtual ~FourWheeled();
    00088
    00089     /**
    00090      * updates the OSG nodes of the vehicle
    00091      */
    00092     virtual void update();
    00093
    00094     virtual int getSensorNumber();
    00095     virtual int getMotorNumber();
    00096
    00097     virtual int getSensors(sensor* sensors, int sensornumber);
    00098
    00099     virtual void setMotors(const motor* motors, int motornumber);
    00100
    00101     /** this function is called in each timestep. It should perform robot-internal checks,
    00102         like space-internal collision detection, sensor resets/update etc.
    00103         @param globalData structure that contains global data from the simulation environment
    00104     */
    00105     virtual void doInternalStuff(GlobalData& globalData);
    00106
    00107     // returns the joint with index i
    00108     virtual Joint* getJoint(int i);
    00109
    00110   protected:
    00111     /** creates vehicle at desired pose
    00112         @param pose 4x4 pose matrix
    00113     */
    00114     virtual void create(const osg::Matrix& pose);
    00115
    00116     /** destroys vehicle and space
    00117      */
    00118     virtual void destroy();
    00119
    00120     FourWheeledConf conf;
    00121     RaySensorBank irSensorBank; // a collection of ir sensors
    00122     Primitive* bumpertrans;
    00123     Primitive* bumper;
    00124   };
    00125
    00126 }
    00127
    00128 #endif