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# oderobot.h

Go to the documentation of this file.

    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: oderobot.h,v $
    00023  *   Revision 1.10  2008/05/14 14:36:28  martius
    00024  *   *** empty log message ***
    00025  *
    00026  *   Revision 1.9  2008/05/07 16:45:52  martius
    00027  *   code cosmetics and documentation
    00028  *
    00029  *   Revision 1.8  2008/05/06 17:14:17  martius
    00030  *   buildsystem further tuned,
    00031  *   help in Makefile
    00032  *   osg/data directory is also installed and registered at osg_robots
    00033  *
    00034  *   Revision 1.7  2007/12/06 10:02:49  der
    00035  *   abstractground: returns now cornerpoints
    00036  *   abstractobstacle: is now trackable
    00037  *   hudstatistics: supports now AbstractmMeasure
    00038  *
    00039  *   Revision 1.6  2007/11/07 13:21:16  martius
    00040  *   doInternal stuff changed signature
    00041  *
    00042  *   Revision 1.5  2007/04/05 15:11:42  martius
    00043  *   angular speed tracking
    00044  *
    00045  *   Revision 1.4  2006/08/08 17:04:46  martius
    00046  *   added new sensor model
    00047  *
    00048  *   Revision 1.3  2006/07/20 17:19:44  martius
    00049  *   removed using namespace std from matrix.h
    00050  *
    00051  *   Revision 1.2  2006/07/14 12:23:41  martius
    00052  *   selforg becomes HEAD
    00053  *
    00054  *   Revision 1.1.2.17  2006/06/25 16:57:14  martius
    00055  *   abstractrobot is configureable
    00056  *   name and revision
    00057  *
    00058  *   Revision 1.1.2.16  2006/06/12 12:59:07  robot8
    00059  *   -some corrections to component system (for example now connections are only pushed as pointers to the connection vector)
    00060  *   -created the evolution simulation for evolutionary evolution algorithms with atom like structures
    00061  *
    00062  *   Revision 1.1.2.15  2006/03/30 12:34:56  martius
    00063  *   documentation updated
    00064  *
    00065  *   Revision 1.1.2.14  2006/03/30 09:59:36  fhesse
    00066  *   getOsgHandle() removed
    00067  *   friend class OdeAgent added
    00068  *
    00069  *   Revision 1.1.2.13  2006/03/30 09:37:05  fhesse
    00070  *   getOsgHandle added
    00071  *
    00072  *   Revision 1.1.2.12  2006/03/29 15:08:42  martius
    00073  *   getMainPrimitive is public now
    00074  *
    00075  *   Revision 1.1.2.11  2005/12/30 22:54:16  martius
    00076  *   collisioncallback must be implemented
    00077  *
    00078  *   Revision 1.1.2.10  2005/12/14 15:37:09  martius
    00079  *   robots are working with osg
    00080  *
    00081  *   Revision 1.1.2.9  2005/12/13 18:11:40  martius
    00082  *   still trying to port robots
    00083  *
    00084  *   Revision 1.1.2.8  2005/12/13 12:31:46  martius
    00085  *   list version of isGeomInPrimitiveList
    00086  *
    00087  *   Revision 1.1.2.7  2005/12/11 23:35:08  martius
    00088  *   *** empty log message ***
    00089  *
    00090  *   Revision 1.1.2.6  2005/12/06 10:13:25  martius
    00091  *   openscenegraph integration started
    00092  *
    00093  *   Revision 1.1.2.5  2005/11/24 16:20:54  fhesse
    00094  *   odeRto3x3RotationMatrix corrected
    00095  *
    00096  *   Revision 1.1.2.4  2005/11/16 11:26:52  martius
    00097  *   moved to selforg
    00098  *
    00099  *   Revision 1.1.2.3  2005/11/15 12:29:27  martius
    00100  *   new selforg structure and OdeAgent, OdeRobot ...
    00101  *
    00102  *   Revision 1.1.2.2  2005/11/14 17:37:18  martius
    00103  *   moved to selforg
    00104  *
    00105  *   Revision 1.1.2.1  2005/11/14 14:43:52  martius
    00106  *   moved from abstractrobot to oderobot
    00107  *
    00108  *   Revision 1.11  2005/10/06 17:14:24  martius
    00109  *   switched to stl lists
    00110  *
    00111  *   Revision 1.10  2005/09/22 12:24:36  martius
    00112  *   removed global variables
    00113  *   OdeHandle and GlobalData are used instead
    00114  *   sensor prepared
    00115  *
    00116  *   Revision 1.9  2005/09/22 07:30:53  martius
    00117  *   moved color and position into extra modules
    00118  *
    00119  *   Revision 1.8  2005/09/12 00:10:44  martius
    00120  *   position operators are const
    00121  *
    00122  *   Revision 1.7  2005/08/30 16:53:53  martius
    00123  *   Position struct has toArray and operators
    00124  *
    00125  *   Revision 1.6  2005/08/29 06:40:35  martius
    00126  *   added virtual destructor
    00127  *
    00128  *   Revision 1.5  2005/08/22 20:32:45  martius
    00129  *   robot has a name
    00130  *
    00131  *   Revision 1.4  2005/07/27 13:22:16  martius
    00132  *   position and color have constructors
    00133  *   ODEHandle
    00134  *
    00135  *   Revision 1.3  2005/07/18 14:47:41  martius
    00136  *   world, space, contactgroup are not pointers anymore.
    00137  *
    00138  *   Revision 1.2  2005/07/07 09:27:11  martius
    00139  *   isGeomInObjectList added
    00140  *
    00141  *   Revision 1.1  2005/06/15 14:20:04  martius
    00142  *   moved into robots
    00143  *                                                                 *
    00144  ***************************************************************************/
    00145 #ifndef __ODEROBOT_H
    00146 #define __ODEROBOT_H
    00147
    00148 #include <vector>
    00149
    00150 #include <selforg/abstractrobot.h>
    00151 #include "odehandle.h"
    00152 #include "osghandle.h"
    00153 #include "globaldata.h"
    00154 #include "color.h"
    00155 #include "pos.h"
    00156 #include "osgforwarddecl.h"
    00157
    00158 namespace lpzrobots {
    00159
    00160   class Primitive;
    00161
    00162   /**
    00163    * Abstract class  for ODE robots
    00164    *
    00165    */
    00166   class OdeRobot : public AbstractRobot {
    00167   public:
    00168
    00169     friend class OdeAgent;
    00170 //    friend class AtomOdeAgent;
    00171
    00172     /**
    00173      * Constructor
    00174      */
    00175     OdeRobot(const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00176              const std::string& name, const std::string& revision);
    00177
    00178     virtual ~OdeRobot();
    00179
    00180
    00181     /// update the OSG notes here
    00182     virtual void update() = 0;
    00183
    00184     /** sets the vehicle to position pos
    00185         @param pos desired position of the robot
    00186     */
    00187     virtual void place(const Pos& pos);
    00188
    00189     /** sets the pose of the vehicle
    00190         @param pose desired 4x4 pose matrix
    00191     */
    00192     virtual void place(const osg::Matrix& pose) = 0;
    00193
    00194     /** @deprecated
    00195      *  Do not use it anymore, collision control is done automatically.
    00196      *  In case of a treatment return true
    00197      *  (collision will be ignored by other objects and the default routine)
    00198      *  else false (collision is passed to other objects and (if not treated) to the default routine).
    00199      */
    00200     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2){ return false; };
    00201
    00202     /** this function is called in each timestep after control. It
    00203         should perform robot-internal checks and actions,
    00204         like acting and sensing of internal motors/sensors etc.
    00205         @param globalData structure that contains global data from the simulation environment
    00206     */
    00207     virtual void doInternalStuff(GlobalData& globalData) = 0;
    00208
    00209     /** sets color of the robot
    00210         @param col Color struct with desired Color
    00211     */
    00212     virtual void setColor(const Color& col);
    00213
    00214
    00215     /*********** BEGIN TRACKABLE INTERFACE ****************/
    00216
    00217     /** returns position of the object
    00218         @return vector of position (x,y,z)
    00219     */
    00220     virtual Position getPosition() const;
    00221
    00222     /** returns linear speed vector of the object
    00223         @return vector  (vx,vy,vz)
    00224     */
    00225     virtual Position getSpeed() const;
    00226
    00227     /** returns angular velocity vector of the object
    00228         @return vector  (wx,wy,wz)
    00229     */
    00230     virtual Position getAngularSpeed() const;
    00231
    00232     /** returns the orientation of the object
    00233         @return 3x3 rotation matrix
    00234     */
    00235     virtual matrix::Matrix getOrientation() const;
    00236     /*********** END TRACKABLE INTERFACE ****************/
    00237
    00238     /// return the primitive of the robot that is used for tracking and camera following
    00239     virtual Primitive* getMainPrimitive() const  = 0;
    00240
    00241   protected:
    00242
    00243     static bool isGeomInPrimitiveList(Primitive** ps, int len, dGeomID geom);
    00244     static bool isGeomInPrimitiveList(std::list<Primitive*> ps, dGeomID geom);
    00245
    00246
    00247   protected:
    00248     OdeHandle odeHandle;
    00249     OsgHandle osgHandle;
    00250     dSpaceID parentspace;
    00251   };
    00252
    00253 }
    00254
    00255 #endif
    00256