Robot Simulator of the Robotics Group for Self-Organization of Control: hand.h Source File

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# hand.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: hand.h,v $
    00023  *   Revision 1.9  2007/11/07 13:21:16  martius
    00024  *   doInternal stuff changed signature
    00025  *
    00026  *   Revision 1.8  2007/09/21 17:05:05  fhesse
    00027  *   IR sensors at fingertip added
    00028  *
    00029  *   Revision 1.7  2007/09/18 16:01:20  fhesse
    00030  *   ir options in conf added
    00031  *
    00032  *   Revision 1.6  2007/09/18 11:03:02  fhesse
    00033  *   conf.finger_winkel and conf.number_of_ir_sensors removed
    00034  *   conf.initWithOpenHand and conf.fingerBendAngle added
    00035  *   servo stuff commented out (todo: readd cleaned version)
    00036  *
    00037  *   Revision 1.5  2007/09/17 19:31:57  fhesse
    00038  *   changes in setMotor() and getSensors() (tried to tidy up)
    00039  *
    00040  *   Revision 1.4  2007/09/17 13:11:20  fhesse
    00041  *   conf option drawFingernails added
    00042  *   box inside palm added to have collisions between palm and fingers
    00043  *   fixing stops of angular motor at forearm-palm-joint
    00044  *   thumb center element removed (now thumb has only 2 parts)
    00045  *
    00046  *   Revision 1.3  2007/09/14 19:18:36  fhesse
    00047  *   pose added and cleaned up in create, HandConf adapted
    00048  *
    00049  *   Revision 1.2  2007/09/12 14:25:44  fhesse
    00050  *   collisionCallback() emtied
    00051  *   comments added
    00052  *   started cleaning up
    00053  *
    00054  *   Revision 1.1  2007/09/12 11:23:11  fhesse
    00055  *   moved from simulation/hand to here (to oderobots/robot)
    00056  *
    00057  *   Revision 1.4  2007/07/05 11:20:02  robot6
    00058  *   hingeservo.h substituted by oneaxismotor.h (includes Hingeservo)
    00059  *   "hand" added in Makefile
    00060  *
    00061  *   Revision 1.3  2007/05/07 09:07:21  robot3
    00062  *   intended region for converting the code from nonreadable to human readable
    00063  *
    00064  *   Revision 1.2  2006/09/21 16:15:57  der
    00065  *   *** empty log message ***
    00066  *
    00067  *   Revision 1.6.4.9  2006/06/25 16:57:13  martius
    00068  *   abstractrobot is configureable
    00069  *   name and revision
    00070  *
    00071  *   Revision 1.6.4.8  2006/03/30 12:34:56  martius
    00072  *   documentation updated
    00073  *
    00074  *   Revision 1.6.4.7  2006/03/30 08:43:05  fhesse
    00075  *   getTracePrimitive removed
    00076  *
    00077  *   Revision 1.6.4.6  2006/03/28 14:20:28  fhesse
    00078  *   getTracePrimitive() added
    00079  *
    00080  *   Revision 1.6.4.5  2005/12/30 22:54:38  martius
    00081  *   removed parentspace!
    00082  *
    00083  *   Revision 1.6.4.4  2005/12/21 17:35:09  martius
    00084  *   moved to osg
    00085  *
    00086  *   Revision 1.6.4.3  2005/11/16 11:26:52  martius
    00087  *   moved to selforg
    00088  *
    00089  *   Revision 1.6.4.2  2005/11/15 12:29:26  martius
    00090  *   new selforg structure and OdeAgent, OdeRobot ...
    00091  *
    00092  *   Revision 1.6.4.1  2005/11/14 17:37:17  martius
    00093  *   moved to selforg
    00094  *
    00095  *   Revision 1.6  2005/11/09 13:26:21  martius
    00096  *   added factorSensor
    00097  *
    00098  *   Revision 1.5  2005/10/06 17:14:24  martius
    00099  *   switched to stl lists
    00100  *
    00101  *   Revision 1.4  2005/09/22 12:24:37  martius
    00102  *   removed global variables
    00103  *   OdeHandle and GlobalData are used instead
    00104  *   sensor prepared
    00105  *
    00106  *   Revision 1.3  2005/08/31 17:18:15  fhesse
    00107  *   setTextures added, Mass is now sphere (not box anymore)
    00108  *
    00109  *   Revision 1.2  2005/07/26 17:04:21  martius
    00110  *   lives in its own space now
    00111  *
    00112  *   Revision 1.1  2005/07/21 12:17:04  fhesse
    00113  *   new hurling snake, todo: add collision space, clean up, comment
    00114  *
    00115  *
    00116  *                                                                 *
    00117  ***************************************************************************/
    00118 #ifndef __HAND_H
    00119 #define __HAND_H
    00120
    00121 #include "oderobot.h"
    00122 #include <selforg/configurable.h>
    00123 #include "primitive.h"
    00124 #include "joint.h"
    00125 #include "angularmotor.h"
    00126 #include "oneaxisservo.h"
    00127
    00128 #include "primitive.h"
    00129 #include "osgforwarddecl.h"
    00130 #include "axis.h"
    00131
    00132 #include "irsensor.h"
    00133 #include "raysensorbank.h"
    00134 #include "raysensor.h"
    00135
    00136 namespace lpzrobots {
    00137
    00138   enum Motor_type
    00139     {
    00140       With_servo_motor,
    00141       Without_servo_motor
    00142     };
    00143
    00144   enum IrSensor_Type{
    00145     irDrawAll,
    00146     irBack,
    00147     irSide,
    00148     irFront
    00149   };
    00150
    00151   // struct containing geom and body for each beam (= box, (cappped)cylinder, sphere)
    00152   typedef struct {
    00153
    00154     public:
    00155     double velocity;
    00156     double power;       // used when non-servo motor is used
    00157     double servo_motor_Power;  // used when servo motor is used
    00158     bool show_contacts;
    00159     enum Motor_type set_typ_of_motor;
    00160     double factorSensor;
    00161     bool fix_palm_joint;
    00162     bool one_finger_as_one_motor;
    00163     bool draw_joints;
    00164     bool showFingernails;
    00165     double fingerJointBendAngle;
    00166     bool initWithOpenHand; // init hand with open or half closed hand
    00167
    00168     //---------------InfrarRedSensor--------------------------
    00169     double irRange;
    00170     bool ir_sensor_used;
    00171     bool irs_at_fingertip;
    00172     bool irs_at_fingertop;
    00173     bool irs_at_fingercenter;
    00174     bool irs_at_fingerbottom;
    00175     enum RaySensor::rayDrawMode ray_draw_mode; // for possible modes see sensors/raysensor.h
    00176   } HandConf;
    00177
    00178   enum GripMode{
    00179     lateral,
    00180     precision
    00181   };
    00182
    00183   /**
    00184    * Artificial Hand
    00185    *
    00186    */
    00187   class Hand : public OdeRobot{
    00188   public:
    00189
    00190     /**
    00191      * constructor of hand
    00192      * @param odeHandle data structure for accessing ODE
    00193      * @param osgHandle ata structure for accessing OSG
    00194      * @param conf configuration of robot
    00195      */
    00196     Hand(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const HandConf& conf, const std::string& name);
    00197
    00198     static HandConf getDefaultConf()
    00199       {
    00200         HandConf conf;
    00201         conf.velocity = 0.2;
    00202         conf.power = 5;
    00203         conf.servo_motor_Power = 0.1;
    00204         conf.show_contacts = true;
    00205         conf.set_typ_of_motor = Without_servo_motor;
    00206         conf.irRange = 2;
    00207         conf.ir_sensor_used=true;
    00208         conf.irs_at_fingerbottom=true;
    00209         conf.irs_at_fingercenter=true;
    00210         conf.irs_at_fingertop =true;
    00211         conf.irs_at_fingertip =false;
    00212         conf.ray_draw_mode=RaySensor::drawAll;
    00213         conf.factorSensor=1.0;
    00214         conf.fix_palm_joint=true;
    00215         conf.one_finger_as_one_motor=false;
    00216         conf.draw_joints=false;
    00217         conf.showFingernails=true;
    00218         conf.fingerJointBendAngle=M_PI/2;
    00219         conf.initWithOpenHand=true; // init with open hand
    00220         return conf;
    00221       }
    00222
    00223
    00224     /**
    00225      * update the subcomponents
    00226      */
    00227     virtual void update();
    00228
    00229     /**
    00230      * sets the pose of the vehicle
    00231      * @param pose desired 4x4 pose matrix
    00232      */
    00233     virtual void place(const osg::Matrix& pose);
    00234
    00235     /**
    00236      * checks for internal collisions and treats them.
    00237      * In case of a treatment return true (collision will be ignored by other objects and the default routine)
    00238      * else false (collision is passed to other objects and (if not treated) to the default routine).
    00239      */
    00240     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2);
    00241
    00242     /** this function is called in each timestep. It should perform robot-internal checks,
    00243         like space-internal collision detection, sensor resets/update etc.
    00244         @param globalData structure that contains global data from the simulation environment
    00245     */
    00246     virtual void doInternalStuff(GlobalData& globalData);
    00247
    00248
    00249     /** returns actual sensorvalues
    00250         @param sensors sensors scaled to [-1,1]
    00251         @param sensornumber length of the sensor array
    00252         @return number of actually written sensors
    00253     */
    00254     virtual int getSensors(sensor* sensors, int sensornumber);
    00255
    00256     /** sets actual motorcommands
    00257         @param motors motors scaled to [-1,1]
    00258         @param motornumber length of the motor array
    00259     */
    00260     virtual void setMotors(const motor* motors, int motornumber);
    00261
    00262     /** returns number of sensors
    00263      */
    00264     virtual int getSensorNumber();
    00265
    00266     /** returns number of motors
    00267      */
    00268     virtual int getMotorNumber();
    00269
    00270     /** returns a vector with the positions of all segments of the robot
    00271         @param poslist vector of positions (of all robot segments)
    00272         @return length of the list
    00273     */
    00274     //  virtual int getSegmentsPosition(vector<Position> &poslist);
    00275
    00276     /**
    00277      * The list of all parameters with their value as allocated lists.
    00278      */
    00279     virtual paramlist getParamList() const;
    00280
    00281     /**
    00282      * Returns the value of the given parameter.
    00283      * @param key name of the parameter
    00284      */
    00285     virtual paramval getParam(const paramkey& key) const;
    00286
    00287     /**
    00288      * Sets the values of the given parameter.
    00289      * @param key name of the parameter
    00290      * @param val value to which the parameter will be set
    00291      */
    00292     virtual bool setParam(const paramkey& key, paramval val);
    00293
    00294
    00295   protected:
    00296     /**
    00297      * Returns the palm as the main object of the robot,
    00298      * which is used for position and speed tracking.
    00299      */
    00300     virtual Primitive* getMainPrimitive() const {
    00301       if(!objects.empty()){
    00302         return (objects[0]); // returns forearm for fixation
    00303         //return (objects[1]); // returns palm
    00304       }else return 0;
    00305     }
    00306
    00307
    00308   private:
    00309
    00310     /**
    00311      * creates the hand at the desired pose
    00312      * @param pose 4x4 pose matrix
    00313      */
    00314     virtual void create(const osg::Matrix& pose);
    00315
    00316     /**
    00317      * destroys robot and space
    00318      */
    00319     virtual void destroy();
    00320
    00321     static void mycallback(void *data, dGeomID o1, dGeomID o2);
    00322
    00323     /** true if robot was created */
    00324     bool created;
    00325
    00326   protected:
    00327
    00328     /** configuration of hand */
    00329     HandConf conf;
    00330
    00331     /** vector containing Primitives */
    00332     std::vector <Primitive*> objects;
    00333     /** vector containing OSGPrimitives */
    00334     std::vector <OSGPrimitive*> osg_objects;
    00335     /** vector containing Primitivesinfrared sensors */
    00336     std::vector <IRSensor*> ir_sensors;
    00337
    00338     /** true if contact joint is created  */
    00339     bool contact_joint_created;
    00340
    00341     //std::vector <HingeServo*> servos;
    00342     //objects.reserve(number_beams);
    00343
    00344     /** vector of the joints used in hand */
    00345     std::vector <Joint*> joints;
    00346
    00347     /** vector of the angular motors */
    00348     std::vector <AngularMotor*> frictionmotors;
    00349
    00350     /** vector of the used hinge servos*/
    00351     std::vector <HingeServo*> servos;
    00352
    00353     /**  a collection of ir sensors */
    00354     RaySensorBank irSensorBank;
    00355
    00356
    00357     /** space containing the hand */
    00358     dSpaceID hand_space;
    00359
    00360     //Beam beam[number_beams]; // array of elements (rectangle and cylinders)
    00361     //dJointID joint[number_joints];  // array containg "normal" joints for connecting the elementsconf
    00362     //dJointID fix_joint[number_fix_joints]; //joints for keeping index, middle, ring and little finger together to achieve mor prosthetic like motion
    00363
    00364     /** motorjoint for actuating the forearm_palm joint (ball joint) */
    00365     AngularMotor* palm_motor_joint;
    00366
    00367     /** motorjoint for actuating the palm_thumb joint (ball joint) */
    00368     AngularMotor* thumb_motor_joint;
    00369
    00370     /** Hinge Joint between thumb_buttom and thumb_top*/
    00371     HingeJoint* thumb_bt;
    00372
    00373     /** Hinge Joint between buttom, center and top part of the index finger*/
    00374     Joint *palm_index, *index_bc, *index_ct;
    00375
    00376     /** Hinge Joint between buttom, center and top part of the middle finger*/
    00377     Joint *palm_middle, *middle_bc, *middle_ct;
    00378
    00379     /** Hinge Joint between buttom, center and top part of the ring finger*/
    00380     Joint *palm_ring, *ring_bc, *ring_ct;
    00381
    00382     /** Hinge Joint between buttom, center and top part of the little finger*/
    00383     Joint *palm_little, *little_bc, *little_ct;
    00384
    00385
    00386
    00387     /** for handling lateral and precision grip modes */
    00388     GripMode gripmode;
    00389
    00390
    00391
    00392     /** initial position of robot */
    00393     Position initial_pos;
    00394
    00395
    00396     Pos oldp;
    00397
    00398     int sensorno;
    00399     int motorno;
    00400     int sensor_number;
    00401     paramval factorForce;
    00402     paramval frictionGround;
    00403
    00404     double velocity;
    00405
    00406
    00407   };
    00408
    00409 }
    00410
    00411 #endif
    00412