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# defaultCaterpillar.h

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    00001 /************************************************************************/
    00002 /* originally from:                                                     */
    00003 /* schlange.h                                                           */
    00004 /* Abstract class for Snakes                                            */
    00005 /* @author Georg Martius                                                */
    00006 /************************************************************************/
    00007 /* here:                                                                */
    00008 /* defaultCaterpillar.h                                                 */
    00009 /* Abstract class for Caterpillars                                      */
    00010 /* @author Frank Guettler                                               */
    00011 /************************************************************************/
    00012 /***************************************************************************
    00013  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00014  *    martius@informatik.uni-leipzig.de                                    *
    00015  *    fhesse@informatik.uni-leipzig.de                                     *
    00016  *    der@informatik.uni-leipzig.de                                        *
    00017  *    frankguettler@gmx.de                                                 *
    00018  *                                                                         *
    00019  *   This program is free software; you can redistribute it and/or modify  *
    00020  *   it under the terms of the GNU General Public License as published by  *
    00021  *   the Free Software Foundation; either version 2 of the License, or     *
    00022  *   (at your option) any later version.                                   *
    00023  *                                                                         *
    00024  *   This program is distributed in the hope that it will be useful,       *
    00025  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00026  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00027  *   GNU General Public License for more details.                          *
    00028  *                                                                         *
    00029  *   You should have received a copy of the GNU General Public License     *
    00030  *   along with this program; if not, write to the                         *
    00031  *   Free Software Foundation, Inc.,                                       *
    00032  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00033  *                                                                         *
    00034  *   $Log: defaultCaterpillar.h,v $
    00035  *   Revision 1.4  2007/11/07 13:21:15  martius
    00036  *   doInternal stuff changed signature
    00037  *
    00038  *   Revision 1.3  2006/12/21 11:43:05  martius
    00039  *   commenting style for doxygen //< -> ///<
    00040  *   new sensors for spherical robots
    00041  *
    00042  *   Revision 1.2  2006/07/14 12:23:39  martius
    00043  *   selforg becomes HEAD
    00044  *
    00045  *   Revision 1.1.2.6  2006/06/25 16:57:12  martius
    00046  *   abstractrobot is configureable
    00047  *   name and revision
    00048  *
    00049  *   Revision 1.1.2.5  2006/05/29 20:28:43  robot5
    00050  *   Annular placement of segments.
    00051  *
    00052  *   Revision 1.1.2.4  2006/05/22 14:19:11  robot5
    00053  *   Added variable conf.firstJoint to represent the first slider type in the alternating sequence.
    00054  *   Code cleaning.
    00055  *
    00056  *   Revision 1.1.2.3  2006/05/09 04:24:34  robot5
    00057  *   *** empty log message ***
    00058  *
    00059  *   Revision 1.1.2.2  2006/04/11 13:27:48  robot3
    00060  *   caterpillar is using now methods from schlangeservo2
    00061  *
    00062  *   Revision 1.1.2.1  2006/04/11 08:30:46  robot3
    00063  *   first version
    00064  *
    00065  *
    00066  *                                                                         *
    00067  ***************************************************************************/
    00068 #ifndef __DEFAULTCATERPILLAR_H
    00069 #define __DEFAULTCATERPILLAR_H
    00070
    00071 #include<vector>
    00072 #include<assert.h>
    00073
    00074 #include"primitive.h"
    00075 #include "joint.h"
    00076 #include "angularmotor.h"
    00077
    00078 #include "oderobot.h"
    00079 #include <selforg/configurable.h>
    00080
    00081 namespace lpzrobots {
    00082
    00083 typedef struct {
    00084 public:
    00085   int    segmNumber;  ///<  number of snake elements
    00086   double segmLength;  ///< length of one snake element
    00087   double segmDia;     ///<  diameter of a snake element
    00088   double segmMass;    ///<  mass of one snake element
    00089   double motorPower;  ///<  power of the motors / servos
    00090   double sensorFactor;    ///<  scale for sensors
    00091   double frictionGround;  ///< friction with ground
    00092   double frictionJoint;   ///< friction within joint
    00093   double jointLimit;      ///< maximal angle for the joints (M_PI/2 = 90 degree)
    00094   int firstJoint;        ///< first joint type to use: 0=sliderJoint, 1=universalJoint
    00095 } CaterPillarConf;
    00096
    00097
    00098 /**
    00099  * This is a class, which models a snake like robot.
    00100  * It consists of a number of equal elements, each linked
    00101  * by a joint
    00102  **/
    00103 class DefaultCaterPillar: public OdeRobot
    00104 {
    00105 protected:
    00106
    00107   bool created;
    00108
    00109   std::vector <Primitive*> objects;
    00110   std::vector <Joint*> joints;
    00111   std::vector <AngularMotor*> frictionmotors;
    00112   CaterPillarConf conf;
    00113
    00114 public:
    00115   DefaultCaterPillar ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00116              const CaterPillarConf& conf, const std::string& name, const std::string& revision);
    00117
    00118   static CaterPillarConf getDefaultConf(){
    00119     CaterPillarConf conf;
    00120     conf.segmNumber = 6;    //  number of snake elements
    00121     conf.segmLength = 0.4;   // length of one snake element
    00122     conf.segmDia    = 0.2;   //  diameter of a snake element
    00123     conf.segmMass   = 0.4;   //  mass of one snake element
    00124     conf.motorPower = 1;    //  power of the servos
    00125     conf.sensorFactor = 1;    //  scale for sensors
    00126     conf.frictionGround = 1.0; // friction with ground
    00127     conf.frictionJoint = 0.1; // friction within joint
    00128     conf.jointLimit =  M_PI/8;
    00129     conf.firstJoint=1;
    00130     return conf;
    00131   }
    00132
    00133   virtual ~DefaultCaterPillar();
    00134
    00135
    00136   /** sets the pose of the vehicle
    00137       @param pose desired 4x4 pose matrix
    00138   */
    00139   virtual void place(const osg::Matrix& pose);
    00140
    00141   /// update all primitives and joints
    00142   virtual void update();
    00143
    00144   /**
    00145    *This is the collision handling function for snake robots.
    00146    *This overwrides the function collisionCallback of the class robot.
    00147    *@param data
    00148    *@param o1 first geometrical object, which has taken part in the collision
    00149    *@param o2 second geometrical object, which has taken part in the collision
    00150    *@return true if the collision was threated  by the robot, false if not
    00151    **/
    00152   virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00153
    00154   static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00155
    00156   virtual void doInternalStuff(GlobalData& global);
    00157
    00158   /**
    00159    *Reads the actual motor commands from an array,
    00160    *an sets all motors of the snake to this values.
    00161    *It is an linear allocation.
    00162    *@param motors pointer to the array, motor values are scaled to [-1,1]
    00163    *@param motornumber length of the motor array
    00164    **/
    00165   virtual void setMotors ( const motor* motors, int motornumber ) = 0;
    00166
    00167   /**
    00168    *Writes the sensor values to an array in the memory.
    00169    *@param sensors pointer to the array
    00170    *@param sensornumber length of the sensor array
    00171    *@return number of actually written sensors
    00172    **/
    00173   virtual int getSensors ( sensor* sensors, int sensornumber ) = 0;
    00174
    00175   /** returns number of sensors
    00176    */
    00177   virtual int getSensorNumber() = 0;
    00178
    00179   /** returns number of motors
    00180    */
    00181   virtual int getMotorNumber() = 0;
    00182
    00183   /** returns a vector with the positions of all segments of the robot
    00184       @param poslist vector of positions (of all robot segments)
    00185       @return length of the list
    00186   */
    00187   virtual int getSegmentsPosition(std::vector<Position> &poslist);
    00188
    00189   /** The list of all parameters with there value as allocated lists.
    00190   */
    00191   virtual paramlist getParamList() const;
    00192
    00193   virtual paramval getParam(const paramkey& key) const;;
    00194
    00195   virtual bool setParam(const paramkey& key, paramval val);
    00196
    00197   /** the main object of the robot, which is used for position and speed tracking */
    00198   virtual Primitive* getMainPrimitive() const {
    00199     if(!objects.empty()){
    00200       //      int half = objects.size()/2;
    00201       //      return (objects[half]);
    00202       return (objects[0]);
    00203     }else return 0;
    00204   }
    00205 protected:
    00206
    00207   /** creates vehicle at desired pose
    00208       @param pose 4x4 pose matrix
    00209   */
    00210   virtual void create(const osg::Matrix& pose);
    00211   virtual void destroy();
    00212 };
    00213
    00214 }
    00215
    00216 #endif