Robotsystem of the Robot Group Leipzig: robotcomponent.h Source File

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# robotcomponent.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  *    marcel@informatik.uni-leipzig.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 #include "component.h"
    00026
    00027 #ifndef robotcomponent_h
    00028 #define robotcomponent_h
    00029
    00030
    00031 namespace lpzrobots
    00032 {
    00033 /**
    00034  * This is a special class of the component system. The physical object that belongs to objects of this class is a robot whose class is derived from OdeRobot.
    00035  * The sensor an motor values these component sends and gets could be used to controll the robot that belongs to this component.
    00036  * If this controling method should be used there are two controling parameters that tell the component, how to handle its sensor/motor values.
    00037  * These are the params completemotormode and complete sensormode of the componentConf. These two parameters control if the sensor/motor values will eb send to the robot of the component or not. If thei are not sent to the robot the robot needs its own controller.
    00038  */
    00039 class RobotComponent : public Component
    00040 {
    00041
    00042  private:
    00043
    00044     OdeRobot* robot;
    00045
    00046  public:
    00047
    00048     RobotComponent ( const OdeHandle &odeHandle, const OsgHandle &osgHandle, const ComponentConf& conf);
    00049
    00050     ~RobotComponent ();
    00051
    00052  public:
    00053
    00054 /**
    00055  *Use this, to get all sensor values of all the joints of all subcomponents, and the sensors of all robots, belonging to all subcompionents.
    00056  *The sensor values have the following sequence:
    00057  *values of the component connecting joints, values of the robot of the component,
    00058  *values of component connecting joints of the first subcomponent, values of the robot of the first subcomponent, ...
    00059  *@robot sensor values of the connecting joints of this component and all subcomponents
    00060  **/
    00061 virtual int     getSensors (sensor *sensors, int sensornumber); //returns actual sensorvalues; only for the connecting joints
    00062
    00063 /**
    00064  *Sets the motor values for the joints connecting the component with its subcomponents, an recursivly the joints of all subComponents.
    00065  *The motors of all robots of the subcomponents is not set.
    00066  *@param
    00067  **/
    00068 virtual void    setMotors (const motor *motors, int motornumber); //sets actual motorcommands; only for the connecting joints
    00069
    00070 virtual int     getSensorNumber (); //returns number of sensors; recursivly adding of the number of sensors all subcomponents and the robots of all Subcomponents.
    00071
    00072 virtual int     getMotorNumber (); //returns number of motors; recursivly adding of the number of sensors all subcomponents; at the moment only counts Hinge-, Slider-, Hinge2 and Universal-Joints; The Motor-Numbers of the robots of the Components is not counted.
    00073
    00074 virtual void    update ();//update the OSG notes here; update of the underlying robot or Primitive and recursive update of all Components in the Connection-vector
    00075
    00076 virtual void    place (const Pos &pos);//sets the vehicle to position pos - desired position of the robot; the first component is seen as center of the robot, on which the position pos refers; also recursive place of all subComponents
    00077 virtual void    place (const osg::Matrix &pose);//sets the pose of the vehicle; also recursive place of all subComponents; does nothing at the moment
    00078
    00079 virtual bool    collisionCallback (void *data, dGeomID o1, dGeomID o2);// checks for internal collisions and treats them.; should do nothing, because there should not be any ode-objects belonging to the component, which are not handled elsewhere....and what is with Primitives? are they automaticaly handled?
    00080
    00081 virtual void    doInternalStuff (GlobalData &globalData);// this function is called in each timestep.; maybee usefull
    00082
    00083 // virtual void         setColor (const Color &col);    sets color of the robot; not nessecary
    00084
    00085 virtual Position getPosition () const; //returns position of the object; relates to the robot or Primitive belonging to the component
    00086
    00087 //virtual Position getSpeed () const;//returns linear speed vector of the object; must be computed from all sub-robots
    00088
    00089 //virtual matrix::Matrix        getOrientation () const;//returns the orientation of the object;
    00090
    00091
    00092 /**
    00093  *This is only a simple function, calculating the coordinates of the point exactly between two directly connected components.
    00094  *@return Vector containing the Position
    00095  *@param index number of the position
    00096  **/
    00097 virtual osg::Vec3 getPositionbetweenComponents ( Component* component );
    00098
    00099 /**
    00100  *Sets the reference to the robot for the component, but only if there is no Primitive assigned to the component.
    00101  *Overwriting an existing robot reference is possible, also to set it NULL, and then set a reference to a Primitive with setSimplePrimitive ( .. ).
    00102  *But first the robot reference should be saved elsewhere or it won't be updated graficaly
    00103  *return true if the reference could be set; false else
    00104  **/
    00105 virtual bool setRobot ( OdeRobot* newrobot );
    00106
    00107 /**
    00108  *returns a reference to the robot belonging to the component, if there is no robot it is an NULL pointer, then try getMeinPrimitive, because there is only a solid Primitive not a complex robot for this component
    00109  *@return the robot asigned to the component
    00110  **/
    00111 virtual OdeRobot* getRobot (); //
    00112
    00113 /**
    00114  *return reference to the simple Primitive, or to the main Primitive of the robot assigend to the component. If nothimng is assigned, NULL is returned.
    00115  **/
    00116 virtual Primitive* getMainPrimitive () const;
    00117
    00118 };
    00119
    00120
    00121 }
    00122 #endif