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

- Main Page
- Namespaces
- Classes
- Files
- Directories
- Related Pages
- Examples

- Search for |

- File List
- File Members

# replayrobot.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: replayrobot.h,v $
    00023  *   Revision 1.3  2008/04/29 08:45:14  guettler
    00024  *   include-section corrected
    00025  *
    00026  *   Revision 1.2  2007/11/07 13:21:16  martius
    00027  *   doInternal stuff changed signature
    00028  *
    00029  *   Revision 1.1  2007/06/14 13:53:11  martius
    00030  *   a robot, that just replays a logfile
    00031  *
    00032  *
    00033  ***************************************************************************/
    00034 #ifndef __REPLAYROBOT_H
    00035 #define __REPLAYROBOT_H
    00036
    00037
    00038 #include "oderobot.h"
    00039 #include <selforg/types.h>
    00040 #include <selforg/matrix.h>
    00041
    00042 namespace lpzrobots {
    00043
    00044   /**
    00045    *
    00046    */
    00047   class ReplayRobot : public OdeRobot{
    00048   public:
    00049     ReplayRobot(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const char* filename);
    00050
    00051     ~ReplayRobot();
    00052
    00053     virtual void update() {}
    00054
    00055     /** sets the pose of the vehicle
    00056         @param pose desired 4x4 pose matrix
    00057     */
    00058     virtual void place(const osg::Matrix& pose) {}
    00059
    00060     /** returns actual sensorvalues
    00061         @param sensors sensors scaled to [-1,1]
    00062         @param sensornumber length of the sensor array
    00063         @return number of actually written sensors
    00064     */
    00065     virtual int getSensors(sensor* sensors, int sensornumber);
    00066
    00067     /** sets actual motorcommands
    00068         @param motors motors scaled to [-1,1]
    00069         @param motornumber length of the motor array
    00070     */
    00071     virtual void setMotors(const motor* motors, int motornumber);
    00072
    00073     /** returns number of sensors
    00074      */
    00075     virtual int getSensorNumber() {return sensorEnd - sensorStart + 1; }
    00076
    00077     /** returns number of motors
    00078      */
    00079     virtual int getMotorNumber() {return motorEnd - motorStart + 1; }
    00080
    00081     /** this function is called in each timestep. It should perform robot-internal checks,
    00082         like space-internal collision detection, sensor resets/update etc.
    00083         @param globalData structure that contains global data from the simulation environment
    00084     */
    00085     virtual void doInternalStuff(GlobalData& globalData) {}
    00086
    00087     virtual bool collisionCallback(void *data, dGeomID o1, dGeomID o2) { return false;}
    00088
    00089   protected:
    00090     /** the main object of the robot, which is used for position and speed tracking */
    00091     virtual Primitive* getMainPrimitive() const { return 0; }
    00092
    00093     static bool parseDataFileForHeader(FILE* f, int & sensorstart, int& sensorend,  int& motorstart, int& motorend);
    00094     static bool parseDataLine(matrix::Matrix& data, FILE* f);
    00095     static bool isEmpty(const char* c);
    00096     static bool check4Number(const char* c);
    00097
    00098
    00099   protected:
    00100     int sensorStart;
    00101     int sensorEnd;
    00102     int motorStart;
    00103     int motorEnd;
    00104
    00105     matrix::Matrix sensors;
    00106     const char* filename;
    00107     FILE* f;
    00108
    00109
    00110   };
    00111
    00112 }
    00113
    00114 #endif
    00115