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# uwo.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: uwo.h,v $
    00023  *   Revision 1.5  2007/11/07 13:21:16  martius
    00024  *   doInternal stuff changed signature
    00025  *
    00026  *   Revision 1.4  2007/02/13 19:32:13  martius
    00027  *   twoaxisservo
    00028  *
    00029  *   Revision 1.3  2006/12/21 11:43:05  martius
    00030  *   commenting style for doxygen //< -> ///<
    00031  *   new sensors for spherical robots
    00032  *
    00033  *   Revision 1.2  2006/07/14 12:23:42  martius
    00034  *   selforg becomes HEAD
    00035  *
    00036  *   Revision 1.1.2.2  2006/06/25 16:57:17  martius
    00037  *   abstractrobot is configureable
    00038  *   name and revision
    00039  *
    00040  *   Revision 1.1.2.1  2006/06/10 20:13:33  martius
    00041  *   unknown walking object
    00042  *
    00043  *
    00044  *                                                                 *
    00045  ***************************************************************************/
    00046 #ifndef __UWO_H
    00047 #define __UWO_H
    00048
    00049 #include "oderobot.h"
    00050 #include "twoaxisservo.h"
    00051
    00052 namespace lpzrobots {
    00053
    00054   class Primitive;
    00055   class Joint;
    00056
    00057   typedef struct {
    00058   public:
    00059     double size;       ///< scaling factor for robot (diameter of body)
    00060     double legLength;  ///< length of the legs in units of size
    00061     int    legNumber;  ///<  number of snake elements
    00062     bool   radialLegs; ///< joint orientation is radial instead of cartesian
    00063     double mass;       ///< chassis mass
    00064     double relLegmass; ///< relative overall leg mass
    00065     double jointLimit; ///< angle range for legs
    00066     double motorPower; ///< maximal force for motors
    00067     double frictionGround; ///< friction with the ground
    00068   } UwoConf;
    00069
    00070
    00071   /** UWO: Unknown Walk Object :-), looks like a plate with a lot of legs
    00072    */
    00073   class Uwo : public OdeRobot {
    00074   public:
    00075
    00076     /**
    00077      * constructor of uwo robot
    00078      * @param odeHandle data structure for accessing ODE
    00079      * @param osgHandle ata structure for accessing OSG
    00080      * @param size scaling of robot
    00081      * @param force maximal used force to realize motorcommand
    00082      * @param radialLegs switches between cartensian and radial leg joints
    00083      */
    00084     Uwo(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const UwoConf& conf,
    00085         const std::string& name);
    00086
    00087     virtual ~Uwo(){};
    00088
    00089     static UwoConf getDefaultConf(){
    00090       UwoConf c;
    00091       c.size       = 1;
    00092       c.legNumber  = 8;
    00093       c.legLength  = 0.3;
    00094       c.mass       = 1;
    00095       c.relLegmass = 1;
    00096       c.motorPower = 0.5;
    00097       c.jointLimit = M_PI/12; // +- 15 degree
    00098       c.radialLegs = true;
    00099       c.frictionGround = 1;
    00100       return c;
    00101     }
    00102
    00103     /**
    00104      * updates the OSG nodes of the vehicle
    00105      */
    00106     virtual void update();
    00107
    00108
    00109     /** sets the pose of the vehicle
    00110         @param pose desired pose matrix
    00111     */
    00112     virtual void place(const osg::Matrix& pose);
    00113
    00114     /** returns actual sensorvalues
    00115         @param sensors sensors scaled to [-1,1]
    00116         @param sensornumber length of the sensor array
    00117         @return number of actually written sensors
    00118     */
    00119     virtual int getSensors(sensor* sensors, int sensornumber);
    00120
    00121     /** sets actual motorcommands
    00122         @param motors motors scaled to [-1,1]
    00123         @param motornumber length of the motor array
    00124     */
    00125     virtual void setMotors(const motor* motors, int motornumber);
    00126
    00127     /** returns number of sensors
    00128      */
    00129     virtual int getSensorNumber(){
    00130       return conf.legNumber*2;
    00131     };
    00132
    00133     /** returns number of motors
    00134      */
    00135     virtual int getMotorNumber(){
    00136       return conf.legNumber*2;
    00137     };
    00138
    00139     /** checks for internal collisions and treats them.
    00140      *  In case of a treatment return true (collision will be ignored by other objects
    00141      *  and the default routine)  else false (collision is passed to other objects and
    00142      *  (if not treated) to the default routine).
    00143      */
    00144     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00145
    00146     /** this function is called in each timestep. It should perform robot-internal checks,
    00147         like space-internal collision detection, sensor resets/update etc.
    00148         @param globalData structure that contains global data from the simulation environment
    00149     */
    00150     virtual void doInternalStuff(GlobalData& globalData);
    00151
    00152
    00153     /** The list of all parameters with there value as allocated lists.
    00154      */
    00155     virtual paramlist getParamList() const;
    00156
    00157     virtual paramval getParam(const paramkey& key) const;;
    00158
    00159     virtual bool setParam(const paramkey& key, paramval val);
    00160
    00161
    00162   protected:
    00163     /** the main object of the robot, which is used for position and speed tracking */
    00164     virtual Primitive* getMainPrimitive() const { return objects[0]; }
    00165
    00166     /** creates vehicle at desired pose
    00167         @param pose 4x4 pose matrix
    00168     */
    00169     virtual void create(const osg::Matrix& pose);
    00170
    00171     /** destroys vehicle and space
    00172      */
    00173     virtual void destroy();
    00174
    00175     UwoConf conf;
    00176     double legmass;    // leg mass
    00177
    00178     bool created;      // true if robot was created
    00179
    00180     std::vector<Primitive*> objects;  // 1 body, legs
    00181     std::vector<Joint*> joints; // joints between cylinder and each legs
    00182     std::vector <UniversalServo*> servos; // motors
    00183
    00184   };
    00185
    00186 }
    00187
    00188 #endif