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# sphererobot.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: sphererobot.h,v $
    00023  *   Revision 1.14  2007/11/07 13:21:16  martius
    00024  *   doInternal stuff changed signature
    00025  *
    00026  *   Revision 1.13  2007/01/26 12:05:05  martius
    00027  *   servos combinied into OneAxisServo
    00028  *
    00029  *   Revision 1.12  2006/08/04 15:07:27  martius
    00030  *   documentation
    00031  *
    00032  *   Revision 1.11  2006/07/20 17:19:45  martius
    00033  *   removed using namespace std from matrix.h
    00034  *
    00035  *   Revision 1.10  2006/07/14 12:23:42  martius
    00036  *   selforg becomes HEAD
    00037  *
    00038  *   Revision 1.9.4.7  2006/06/25 16:57:16  martius
    00039  *   abstractrobot is configureable
    00040  *   name and revision
    00041  *
    00042  *   Revision 1.9.4.6  2006/03/30 12:34:57  martius
    00043  *   documentation updated
    00044  *
    00045  *   Revision 1.9.4.5  2006/01/10 15:10:24  martius
    00046  *   fine tuning, fuer controllinterval 1
    00047  *   still not transparent
    00048  *
    00049  *   Revision 1.9.4.4  2005/12/30 22:51:45  martius
    00050  *   moved to osg
    00051  *
    00052  *   Revision 1.9.4.3  2005/11/16 11:26:53  martius
    00053  *   moved to selforg
    00054  *
    00055  *   Revision 1.9.4.2  2005/11/15 12:29:27  martius
    00056  *   new selforg structure and OdeAgent, OdeRobot ...
    00057  *
    00058  *   Revision 1.9.4.1  2005/11/14 17:37:18  martius
    00059  *   moved to selforg
    00060  *
    00061  *   Revision 1.9  2005/11/09 13:24:42  martius
    00062  *   added GPL
    00063  *
    00064  *                                                                 *
    00065  ***************************************************************************/
    00066
    00067 #ifndef __SPHEREROBOT_H
    00068 #define __SPHEREROBOT_H
    00069
    00070 #include "oderobot.h"
    00071 #include "oneaxisservo.h"
    00072
    00073 namespace lpzrobots {
    00074
    00075   class Primitive;
    00076   class Joint;
    00077   class SliderJoint;
    00078
    00079   typedef struct {
    00080   public:
    00081     double diameter;
    00082     double spheremass;
    00083     double pendulardiameter;
    00084     double pendularmass;
    00085     double slidermass;
    00086     double sliderrange;
    00087
    00088     double force;      // forcefactor of the servo power (1 is usual)
    00089     double hingeRange; //the angle (in rad) of the hinges that connect pendular with poles
    00090   } SphererobotConf;
    00091
    00092
    00093   /**
    00094    *This is a class, which models a snake like robot. It consists of a number of equal elements, each linked
    00095    *by a joint. This class is based upon the class roboter by the same author.
    00096    *@author Marcel Kretschmann
    00097    *@version beta
    00098    **/
    00099   class Sphererobot : public OdeRobot
    00100   {
    00101   public:
    00102     typedef enum objects { Base, Pendular, Pole1Bot, Pole2Bot, Pole3Bot,
    00103                            Pole1Top , Pole2Top, Pole3Top, Last};
    00104
    00105   protected:
    00106     const static int sensorno = 9;
    00107
    00108     SphererobotConf conf;
    00109     bool created;
    00110
    00111   public:
    00112     SliderServo* servo[3];
    00113     Primitive* object[Last];
    00114     SliderJoint* slider[3];
    00115     Joint* joint[6];
    00116
    00117   public:
    00118
    00119     Sphererobot ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00120                   const SphererobotConf& conf, const std::string& name );
    00121
    00122     virtual ~Sphererobot();
    00123
    00124     static SphererobotConf getDefaultConf(){
    00125       SphererobotConf c;
    00126       c.diameter     = 1;
    00127       c.spheremass   = 0.2;
    00128       c.pendulardiameter = 0.2;
    00129       c.pendularmass = 1.0;
    00130       c.slidermass   = 0.005;
    00131       c.sliderrange  = 0.1; // range of the slider from center in multiple of diameter [-range,range]
    00132       c.force        = 1;
    00133       c.hingeRange   = M_PI/180*30;
    00134       return c;
    00135     }
    00136
    00137     /// update the subcomponents
    00138     virtual void update();
    00139
    00140     /** sets the pose of the vehicle
    00141         @param pose desired 4x4 pose matrix
    00142     */
    00143     virtual void place(const osg::Matrix& pose);
    00144
    00145     /**
    00146      *This is the collision handling function for snake robots.
    00147      *This overwrides the function collisionCallback of the class robot.
    00148      *@param data
    00149      *@param o1 first geometrical object, which has taken part in the collision
    00150      *@param o2 second geometrical object, which has taken part in the collision
    00151      *@return true if the collision was threated  by the robot, false if not
    00152      **/
    00153     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00154     /** this function is called in each timestep. It should perform robot-internal checks,
    00155         like space-internal collision detection, sensor resets/update etc.
    00156         @param globalData structure that contains global data from the simulation environment
    00157     */
    00158     virtual void doInternalStuff(GlobalData& globalData);
    00159
    00160     /**
    00161      *Writes the sensor values to an array in the memory.
    00162      *@param sensors pointer to the array
    00163      *@param sensornumber length of the sensor array
    00164      *@return number of actually written sensors
    00165      **/
    00166     virtual int getSensors ( sensor* sensors, int sensornumber );
    00167
    00168     /**
    00169      *Reads the actual motor commands from an array, an sets all motors of the snake to this values.
    00170      *It is an linear allocation.
    00171      *@param motors pointer to the array, motor values are scaled to [-1,1]
    00172      *@param motornumber length of the motor array
    00173      **/
    00174     virtual void setMotors ( const motor* motors, int motornumber );
    00175
    00176     /**
    00177      *Returns the number of motors used by the snake.
    00178      *@return number of motors
    00179      **/
    00180     virtual int getMotorNumber();
    00181
    00182     /**
    00183      *Returns the number of sensors used by the robot.
    00184      *@return number of sensors
    00185      **/
    00186     virtual int getSensorNumber();
    00187
    00188     /** returns a vector with the positions of all segments of the robot
    00189     */
    00190     virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00191
    00192     /** the main object of the robot, which is used for position and speed tracking */
    00193     virtual Primitive* getMainPrimitive() const { return object[Base]; }
    00194
    00195   protected:
    00196     /** creates vehicle at desired pose
    00197         @param pose 4x4 pose matrix
    00198     */
    00199     virtual void create(const osg::Matrix& pose);
    00200     virtual void destroy();
    00201
    00202
    00203
    00204   };
    00205
    00206 }
    00207
    00208 #endif