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# sliderwheelie.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *    frankguettler@gmx.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  *   $Log: sliderwheelie.h,v $
    00024  *   Revision 1.10  2008/09/16 14:53:24  martius
    00025  *   provide a virtual center of the robot as main primitive
    00026  *
    00027  *   Revision 1.9  2007/11/07 13:21:16  martius
    00028  *   doInternal stuff changed signature
    00029  *
    00030  *   Revision 1.8  2007/01/26 12:05:04  martius
    00031  *   servos combinied into OneAxisServo
    00032  *
    00033  *   Revision 1.7  2006/12/21 11:43:05  martius
    00034  *   commenting style for doxygen //< -> ///<
    00035  *   new sensors for spherical robots
    00036  *
    00037  *   Revision 1.6  2006/09/21 22:09:58  martius
    00038  *   collision for mesh
    00039  *
    00040  *   Revision 1.5  2006/09/21 16:17:18  der
    00041  *   *** empty log message ***
    00042  *
    00043  *   Revision 1.4  2006/09/21 08:15:15  martius
    00044  *   with sliders inside a segment
    00045  *
    00046  *   Revision 1.3  2006/07/20 17:19:44  martius
    00047  *   removed using namespace std from matrix.h
    00048  *
    00049  *   Revision 1.2  2006/07/14 12:23:42  martius
    00050  *   selforg becomes HEAD
    00051  *
    00052  *   Revision 1.1.2.3  2006/06/25 21:57:20  martius
    00053  *   abstractrobot is configureable
    00054  *   name and revision
    00055  *
    00056  *   Revision 1.1.2.2  2006/06/20 07:18:29  robot3
    00057  *   -added cvs log
    00058  *   -changed some behaviour of wheelie
    00059  *
    00060  *                                                                         *
    00061  ***************************************************************************/
    00062 #ifndef __SLIDERWHEELIE_H
    00063 #define __SLIDERWHEELIE_H
    00064
    00065 #include<vector>
    00066 #include<assert.h>
    00067
    00068 #include "oderobot.h"
    00069 #include"primitive.h"
    00070 #include "joint.h"
    00071 #include "angularmotor.h"
    00072
    00073 #include "oneaxisservo.h"
    00074
    00075
    00076 namespace lpzrobots {
    00077
    00078   typedef struct {
    00079   public:
    00080     int    segmNumber;  ///<  number of snake elements
    00081     double segmLength;  ///< length of one snake element
    00082     double segmDia;     ///<  diameter of a snake element
    00083     double segmMass;    ///<  mass of one snake element
    00084     double motorPower;  ///<  power of the motors / servos
    00085     double powerRatio;   ///< ratio of motorpower for hinge vs. slider
    00086     double sensorFactor;    ///<  scale for sensors
    00087     double frictionGround;  ///< friction with ground
    00088     double frictionJoint;   ///< friction within joint
    00089     double jointLimitIn;      ///< maximal angle for the joints to the inside (M_PI/2 = 90 degree)
    00090     double jointLimitOut;      ///< maximal angle for the joints to the outside
    00091     double sliderLength;  ///< length of the slider in segmLength
    00092   } SliderWheelieConf;
    00093
    00094
    00095   /**
    00096    * This is a class, which models an annular robot.
    00097    * It consists of a number of equal elements, each linked
    00098    * by a joint powered by 1 servo
    00099    **/
    00100   class SliderWheelie : public OdeRobot
    00101   {
    00102   private:
    00103     bool created;
    00104
    00105     std::vector <Primitive*> objects;
    00106     std::vector <Joint*> joints;
    00107     std::vector <AngularMotor*> frictionmotors;
    00108     SliderWheelieConf conf;
    00109
    00110     std::vector <HingeServo*> hingeServos;
    00111     std::vector <SliderServo*> sliderServos;
    00112
    00113     Primitive* center; // virtual center object (position updated on setMotors)
    00114   public:
    00115     SliderWheelie(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00116                   const SliderWheelieConf& conf, const std::string& name,
    00117                   const std::string& revision = "");
    00118
    00119     virtual ~SliderWheelie();
    00120
    00121     static SliderWheelieConf getDefaultConf(){
    00122       SliderWheelieConf conf;
    00123       conf.segmNumber = 8;    //  number of snake elements
    00124       conf.segmLength = 0.4;   // length of one snake element
    00125       conf.segmDia    = 0.2;   //  diameter of a snake element
    00126       conf.segmMass   = 0.4;   //  mass of one snake element
    00127       conf.motorPower = 0.2;    //  power of the servos
    00128       conf.powerRatio = 2;    //  power of the servos
    00129       conf.sensorFactor = 1;    //  scale for sensors
    00130       conf.frictionGround = 0.8; // friction with ground
    00131       conf.frictionJoint = 0.0; // friction within joint
    00132       conf.jointLimitIn    =  M_PI/2;
    00133       conf.jointLimitOut   =  -1; // automatically set to 2*M_PI/segm_num
    00134       conf.sliderLength  =  1;
    00135       return conf;
    00136     }
    00137
    00138     virtual void place(const osg::Matrix& pose);
    00139
    00140     virtual void update();
    00141
    00142     void doInternalStuff(GlobalData& global);
    00143
    00144     bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00145
    00146     virtual void setMotors ( const motor* motors, int motornumber );
    00147
    00148     virtual int getSensors ( sensor* sensors, int sensornumber );
    00149
    00150     virtual int getSensorNumber() { assert(created); return hingeServos.size()+sliderServos.size(); }
    00151
    00152     virtual int getMotorNumber(){ assert(created); return hingeServos.size()+sliderServos.size(); }
    00153
    00154     virtual Primitive* getMainPrimitive() const {
    00155       if(center) return center;
    00156       else if(!objects.empty()){
    00157         return (objects[0]);
    00158       }else return 0;
    00159     }
    00160
    00161     virtual paramlist getParamList() const;
    00162
    00163     virtual paramval getParam(const paramkey& key) const;
    00164
    00165     virtual bool setParam(const paramkey& key, paramval val);
    00166
    00167   private:
    00168     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00169
    00170     virtual void create(const osg::Matrix& pose);
    00171     virtual void destroy();
    00172   };
    00173
    00174 }
    00175
    00176 #endif