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# truckmesh.h

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    00001 /***************************************************************************
    00002  *                                                                         *
    00003  *  TruckMesh robot, an example for using Meshes for robot bodies          *
    00004  *  basic code taken from the nimm4 robot                                  *
    00005  *                                                                         *
    00006  **************************************************************************/
    00007 /***************************************************************************
    00008  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00009  *    martius@informatik.uni-leipzig.de                                    *
    00010  *    fhesse@informatik.uni-leipzig.de                                     *
    00011  *    der@informatik.uni-leipzig.de                                        *
    00012  *    frankguettler@gmx.de                                                 *
    00013  *                                                                         *
    00014  *   This program is free software; you can redistribute it and/or modify  *
    00015  *   it under the terms of the GNU General Public License as published by  *
    00016  *   the Free Software Foundation; either version 2 of the License, or     *
    00017  *   (at your option) any later version.                                   *
    00018  *                                                                         *
    00019  *   This program is distributed in the hope that it will be useful,       *
    00020  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00021  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00022  *   GNU General Public License for more details.                          *
    00023  *                                                                         *
    00024  *   You should have received a copy of the GNU General Public License     *
    00025  *   along with this program; if not, write to the                         *
    00026  *   Free Software Foundation, Inc.,                                       *
    00027  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00028  *                                                                         *
    00029  *   $Log: truckmesh.h,v $
    00030  *   Revision 1.4  2007/11/07 13:21:16  martius
    00031  *   doInternal stuff changed signature
    00032  *
    00033  *   Revision 1.3  2007/07/31 08:19:26  martius
    00034  *   mesh without global
    00035  *
    00036  *   Revision 1.2  2006/07/14 12:23:42  martius
    00037  *   selforg becomes HEAD
    00038  *
    00039  *   Revision 1.1.2.3  2006/07/06 12:33:31  robot3
    00040  *   -mass of the truck can be set by the constructor now
    00041  *   -code cleaned up
    00042  *   -all 6 wheels have now contact to the ground (instead of only 4)
    00043  *
    00044  *   Revision 1.1.2.2  2006/06/29 16:36:46  robot3
    00045  *   -controller now gets 6 wheels for control
    00046  *   -wheels are on the right position now
    00047  *
    00048  *   Revision 1.1.2.1  2006/06/27 15:19:52  robot3
    00049  *   truckmesh uses a mesh for the body of the robot
    00050  *
    00051  *   Revision 1.5.4.13  2006/06/25 16:57:14  martius
    00052  *   abstractrobot is configureable
    00053  *   name and revision
    00054  *
    00055  *   Revision 1.5.4.12  2006/04/04 14:13:24  fhesse
    00056  *   documentation improved
    00057  *
    00058  *   Revision 1.5.4.11  2006/03/31 16:20:28  fhesse
    00059  *   class Joint; changed to: class Hinge2Joint;
    00060  *
    00061  *   Revision 1.5.4.10  2006/03/30 12:34:56  martius
    00062  *   documentation updated
    00063  *
    00064  *   Revision 1.5.4.9  2005/12/15 17:04:08  martius
    00065  *   Primitives are not longer inherited from OSGPrimitive, moreover
    00066  *   they aggregate them.
    00067  *   Joint have better getter and setter
    00068  *
    00069  *   Revision 1.5.4.8  2005/12/14 15:37:09  martius
    00070  *   robots are working with osg
    00071  *
    00072  *   Revision 1.5.4.7  2005/12/13 18:11:40  martius
    00073  *   still trying to port robots
    00074  *
    00075  *   Revision 1.5.4.6  2005/12/12 23:41:19  martius
    00076  *   added Joint wrapper
    00077  *
    00078  *   Revision 1.5.4.5  2005/12/11 23:35:08  martius
    00079  *   *** empty log message ***
    00080  *
    00081  *   Revision 1.5.4.4  2005/12/06 10:13:25  martius
    00082  *   openscenegraph integration started
    00083  *
    00084  *   Revision 1.5.4.3  2005/11/16 11:26:52  martius
    00085  *   moved to selforg
    00086  *
    00087  *   Revision 1.5.4.2  2005/11/15 12:29:26  martius
    00088  *   new selforg structure and OdeAgent, OdeRobot ...
    00089  *
    00090  *   Revision 1.5.4.1  2005/11/14 17:37:18  martius
    00091  *   moved to selforg
    00092  *
    00093  *   Revision 1.5  2005/10/27 16:10:41  fhesse
    00094  *   nimm4 as example
    00095  *
    00096  *   Revision 1.4  2005/09/22 12:24:37  martius
    00097  *   removed global variables
    00098  *   OdeHandle and GlobalData are used instead
    00099  *   sensor prepared
    00100  *
    00101  *   Revision 1.3  2005/08/31 11:14:06  martius
    00102  *   removed unused vars
    00103  *
    00104  *   Revision 1.2  2005/08/03 20:38:56  martius
    00105  *   added textures and correct placement
    00106  *
    00107  *   Revision 1.1  2005/07/29 15:13:11  martius
    00108  *   a robot with 4 independent wheels
    00109  *
    00110  *                                                                 *
    00111  ***************************************************************************/
    00112 #ifndef __TRUCKMESH_H
    00113 #define __TRUCKMESH_H
    00114
    00115 #include "oderobot.h"
    00116
    00117 namespace lpzrobots {
    00118
    00119   class Primitive;
    00120   class Hinge2Joint;
    00121
    00122   /** Robot that looks like a Nimm 2 Bonbon :-)
    00123       4 wheels and a truck mesh like body
    00124   */
    00125   class TruckMesh : public OdeRobot{
    00126   public:
    00127
    00128     /**
    00129      * constructor of TruckMesh robot
    00130      * @param odeHandle data structure for accessing ODE
    00131      * @param osgHandle ata structure for accessing OSG
    00132      * @param size scaling of robot
    00133      * @param force maximal used force to realize motorcommand
    00134      * @param speed factor for changing speed of robot
    00135      */
    00136     TruckMesh(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const std::string& name,
    00137               double size=1, double force=3, double speed=15, double mass=1);
    00138
    00139
    00140    virtual ~TruckMesh(){};
    00141
    00142     /**
    00143      * updates the OSG nodes of the vehicle
    00144      */
    00145     virtual void update();
    00146
    00147
    00148     /** sets the pose of the vehicle
    00149         @param pose desired pose matrix
    00150     */
    00151     virtual void place(const osg::Matrix& pose);
    00152
    00153     /** returns actual sensorvalues
    00154         @param sensors sensors scaled to [-1,1]
    00155         @param sensornumber length of the sensor array
    00156         @return number of actually written sensors
    00157     */
    00158     virtual int getSensors(sensor* sensors, int sensornumber);
    00159
    00160     /** sets actual motorcommands
    00161         @param motors motors scaled to [-1,1]
    00162         @param motornumber length of the motor array
    00163     */
    00164     virtual void setMotors(const motor* motors, int motornumber);
    00165
    00166     /** returns number of sensors
    00167      */
    00168     virtual int getSensorNumber(){
    00169       return sensorno;
    00170     };
    00171
    00172     /** returns number of motors
    00173      */
    00174     virtual int getMotorNumber(){
    00175       return motorno;
    00176     };
    00177
    00178     /** checks for internal collisions and treats them.
    00179      *  In case of a treatment return true (collision will be ignored by other objects
    00180      *  and the default routine)  else false (collision is passed to other objects and
    00181      *  (if not treated) to the default routine).
    00182      */
    00183     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00184
    00185     /** this function is called in each timestep. It should perform robot-internal checks,
    00186         like space-internal collision detection, sensor resets/update etc.
    00187         @param globalData structure that contains global data from the simulation environment
    00188     */
    00189     virtual void doInternalStuff(GlobalData& globalData);
    00190
    00191
    00192   protected:
    00193     /** the main object of the robot, which is used for position and speed tracking */
    00194     virtual Primitive* getMainPrimitive() const { return object[0]; }
    00195
    00196     /** creates vehicle at desired pose
    00197         @param pose 4x4 pose matrix
    00198     */
    00199     virtual void create(const osg::Matrix& pose);
    00200
    00201     /** destroys vehicle and space
    00202      */
    00203     virtual void destroy();
    00204
    00205     /** additional things for collision handling can be done here
    00206      */
    00207     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00208
    00209     double length;     // chassis length
    00210     double width;      // chassis width
    00211     double middlewidth; // chassis middle position of width
    00212     double middlelength; // chassis middle position of length
    00213     double height;     // chassis height
    00214     double radius;     // wheel radius
    00215     double wheelthickness; // thickness of the wheels
    00216     double cmass;      // chassis mass
    00217     double wmass;      // wheel mass
    00218     int sensorno;      // number of sensors
    00219     int motorno;       // number of motors
    00220     int segmentsno;    // number of motorsvehicle segments
    00221     double speed;      // factor for adjusting speed of robot
    00222
    00223     bool drawBoundings; // if bounding shapes of the body are drawed
    00224     double max_force;  // maximal force for motors
    00225
    00226     bool created;      // true if robot was created
    00227
    00228     Primitive* object[7];  // 1 mesh, 6 wheels
    00229     Hinge2Joint* joint[6]; // joints between mesh and each wheel
    00230
    00231   };
    00232
    00233 }
    00234
    00235 #endif