Robot Simulator of the Robotics Group for Self-Organization of Control: barrel2masses.h Source File

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# barrel2masses.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  ***************************************************************************
    00023  *                                                                         *
    00024  * cylinder like Robot inspired by Julius Popp's Adam.                     *
    00025  *                                                                         *
    00026  *   $Log: barrel2masses.h,v $
    00027  *   Revision 1.4  2007/07/03 13:05:23  martius
    00028  *   new servo constants
    00029  *
    00030  *   Revision 1.3  2007/01/26 12:05:04  martius
    00031  *   servos combinied into OneAxisServo
    00032  *
    00033  *   Revision 1.2  2006/12/21 11:43:05  martius
    00034  *   commenting style for doxygen //< -> ///<
    00035  *   new sensors for spherical robots
    00036  *
    00037  *   Revision 1.1  2006/12/01 16:21:15  martius
    00038  *   like sphere3masses, but with 2 masses and cylindric body
    00039  *
    00040  *
    00041  *                                                                 *
    00042  ***************************************************************************/
    00043
    00044 #ifndef __BARREL2MASSES_H
    00045 #define __BARREL2MASSES_H
    00046
    00047 #include "primitive.h"
    00048 #include "joint.h"
    00049 #include "oneaxisservo.h"
    00050 #include "oderobot.h"
    00051 #include "raysensorbank.h"
    00052 #include "sphererobot3masses.h"
    00053
    00054 namespace lpzrobots {
    00055
    00056 /*
    00057   parameters for nice rolling modes:
    00058
    00059     Sphererobot3MassesConf conf = Sphererobot3Masses::getDefaultConf();
    00060     conf.pendularrange  = 0.3;
    00061     conf.motorsensor=false;
    00062     conf.axisZsensor=true;
    00063     conf.axisXYZsensor=false;
    00064     conf.spheremass   = 1;
    00065     sphere1 = new Barrel2Masses ( odeHandle, osgHandle.changeColor(Color(0.0,0.0,1.0)),
    00066                                   conf, "Barrel1", 0.2);
    00067     sphere1->place ( osg::Matrix::rotate(M_PI/2, 1,0,0));
    00068
    00069     controller = new InvertMotorNStep();
    00070     controller->setParam("steps", 2);
    00071     controller->setParam("adaptrate", 0.0);
    00072     controller->setParam("epsC", 0.03);
    00073     controller->setParam("epsA", 0.05);
    00074     controller->setParam("rootE", 3);
    00075     controller->setParam("logaE", 0);
    00076
    00077     One2OneWiring* wiring = new One2OneWiring ( new ColorUniformNoise() );
    00078
    00079 */
    00080
    00081 /**
    00082    A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes.
    00083    It is the small brother of the Sphererobot3Masses.
    00084    This robot was inspired by Julius Popp (http://sphericalrobots.com)
    00085 */
    00086 class Barrel2Masses : public Sphererobot3Masses
    00087 {
    00088 public:
    00089
    00090   /**
    00091    * Constructor. It is configured with the configuration object of Sphererobot3Masses.
    00092    Just two of the 3 axis are used. The worldZaxissensor  and irAxis3 has no meaning here.
    00093    **/
    00094   Barrel2Masses ( const OdeHandle& odeHandle, const OsgHandle& osgHandle,
    00095                        const Sphererobot3MassesConf& conf, const std::string& name, double transparency=0.5 );
    00096
    00097   virtual ~Barrel2Masses();
    00098
    00099   /** default configuration. It has no sensors.
    00100       Use addSensor(new AxisOrientationSensor(ZProjectionXY) for example.*/
    00101   static Sphererobot3MassesConf getDefaultConf(){
    00102     Sphererobot3MassesConf c;
    00103     c.diameter     = 1;
    00104     c.spheremass   = .3;// 0.1
    00105     c.pendularmass  = 1.0;
    00106     c.pendularrange  = 0.25; // range of the slider from center in multiple of diameter [-range,range]
    00107     c.motorpowerfactor = 150;
    00108     c.motorsensor = false;
    00109     c.irAxis1=false;
    00110     c.irAxis2=false;
    00111     c.irAxis3=false;
    00112     c.drawIRs=true;
    00113     c.irsensorscale=1.5;
    00114     c.irCharacter=1;
    00115     return c;
    00116   }
    00117
    00118   virtual int getSensors ( sensor* sensors, int sensornumber );
    00119
    00120 protected:
    00121
    00122   /// The cylinder (main body) lies on the ground, that it is rotating about the z-axis
    00123   virtual void create(const osg::Matrix& pose);
    00124
    00125 };
    00126
    00127 }
    00128
    00129 #endif