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# odeagent.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  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: odeagent.h,v $
    00023  *   Revision 1.8  2008/04/18 09:50:24  guettler
    00024  *   Implemented step functions for multiple threads of the class Simulation
    00025  *
    00026  *   Revision 1.7  2008/04/17 15:59:00  martius
    00027  *   OSG2 port finished
    00028  *
    00029  *   Revision 1.6.2.1  2008/04/17 15:05:47  martius
    00030  *   use RandGen
    00031  *
    00032  *   Revision 1.6  2007/08/30 09:46:41  martius
    00033  *   simulation time
    00034  *
    00035  *   Revision 1.5  2007/03/28 07:16:58  martius
    00036  *   trace is drawn thicker
    00037  *
    00038  *   Revision 1.4  2006/12/11 18:11:01  martius
    00039  *   noisefactor and default constructor
    00040  *
    00041  *   Revision 1.3  2006/07/20 17:19:43  martius
    00042  *   removed using namespace std from matrix.h
    00043  *
    00044  *   Revision 1.2  2006/07/14 12:23:31  martius
    00045  *   selforg becomes HEAD
    00046  *
    00047  *   Revision 1.1.2.6  2006/05/15 13:14:10  robot3
    00048  *   STRG-R now makes screenshots in jpg-format
    00049  *   STRG-F now toggles the file logging (controller stuff) on/off
    00050  *   STRG-G now restarts the GuiLogger
    00051  *
    00052  *   Revision 1.1.2.5  2006/03/31 16:16:58  fhesse
    00053  *   changed trace() to init_tracing()
    00054  *   and check for init at beginning of step
    00055  *
    00056  *   Revision 1.1.2.4  2006/03/29 15:08:06  martius
    00057  *   Agent::interninit not necessary
    00058  *
    00059  *   Revision 1.1.2.3  2006/03/28 14:14:44  fhesse
    00060  *   tracing of a given primitive (in the osg window) added
    00061  *
    00062  *   Revision 1.1.2.2  2005/12/06 10:13:23  martius
    00063  *   openscenegraph integration started
    00064  *
    00065  *   Revision 1.1.2.1  2005/11/15 12:29:18  martius
    00066  *   new selforg structure and OdeAgent, OdeRobot ...
    00067  *
    00068  *                                                                 *
    00069  ***************************************************************************/
    00070 #ifndef __ODEAGENT_H
    00071 #define __ODEAGENT_H
    00072
    00073 #include <selforg/agent.h>
    00074 #include "oderobot.h"
    00075 #include "osgprimitive.h"
    00076 #include "primitive.h"
    00077
    00078 namespace lpzrobots {
    00079
    00080   /** Specialised agent for ode robots
    00081    */
    00082   class OdeAgent : public Agent {
    00083   public:
    00084     /** constructor
    00085      */
    00086     OdeAgent(const PlotOption& plotOption = PlotOption(NoPlot), double noisefactor = 1)
    00087       : Agent(plotOption, noisefactor) { tracing_initialized=false; }
    00088     OdeAgent(const std::list<PlotOption>& plotOptions, double noisefactor = 1)
    00089       : Agent(plotOptions, noisefactor) {tracing_initialized=false;}
    00090     /** destructor
    00091      */
    00092     virtual ~OdeAgent() {}
    00093
    00094     /** initializes the object with the given controller, robot and wiring
    00095         and initializes pipe to guilogger
    00096     */
    00097     virtual bool init(AbstractController* controller, OdeRobot* robot, AbstractWiring* wiring,
    00098                       long int seed = 0){
    00099       return Agent::init(controller, robot, wiring, seed);
    00100     }
    00101
    00102
    00103     virtual void step(double noise, double time);
    00104
    00105     /**
    00106      * Special function for the class Simulation to seperate the step
    00107      * of the WiredController (plus TrackRobot) and the setting and getting
    00108      * of the motor- and sensorvalues.
    00109      * @param noise @see step()
    00110      * @param time @see step()
    00111      */
    00112     virtual void stepOnlyWiredController(double noise, double time);
    00113
    00114     /**
    00115      * Special function for the class Simulation to seperate the step
    00116      * of the WiredController (plus TrackRobot) and the setting and getting
    00117      * of the motor- and sensorvalues.
    00118      */
    00119     virtual void setMotorsGetSensors();
    00120
    00121
    00122     void internInit(){
    00123       trace_length=0; // number of past robot positions shown in osg
    00124     }
    00125
    00126     /**
    00127      * Returns a pointer to the robot.
    00128      */
    00129     virtual OdeRobot* getRobot() { return (OdeRobot*)robot;}
    00130
    00131     /// gives the number of past robot positions shown as trace in osg
    00132     virtual int getTraceLength(){return trace_length;}
    00133
    00134     /**
    00135      * initialize tracing in ode
    00136      * @param tracelength number of past positions shown as trace in osg
    00137      * @param tracethickness  thickness of the trace
    00138      */
    00139     virtual void init_tracing(int tracelength=1000, double tracethickness=0.01);
    00140
    00141
    00142   private:
    00143     int trace_length;
    00144     double trace_thickness;
    00145     int counter;
    00146     bool tracing_initialized;
    00147
    00148     OSGPrimitive** segments; // stores segments(cylinders) of the trace
    00149     osg::Vec3 lastpos;
    00150   };
    00151
    00152 }
    00153
    00154 #endif